把持確認が可能なカラビナ型グリッパを有するマニピュレータによるネット登攀

抄録

Nets are portable due to their flexibility, and if they can be used as a climbing target, the robot can descend by hanging a net in an inaccessible area, thereby expanding its field of movement. Furthermore, a robot that climbs with manipulators can reduce its weight by eliminating extra manipulators for the work. However, this method has a problem when the climbing target is a net, because the net is flexible and the grasping position is uncertain. To solve the problem of indefinite grasping position, a grasp confirmation method that judges whether the grasp is successful or not has been proposed. However, the existing methods are limited when the climbing target is a rigid object such as a fence. In this research, the gripper imitates the shape of a carabiner to realize grasp confirmation with a flexible net by detecting movement in or out of the annulus of the climbing target by the degree of rotation of the variable parts. In addition, by attaching servo motor to the variable component, it realizes grasping objects in a similar way to the existing grippers. As the result, the same gripper to perform grasp confirmation to determine the success or failure of grasping, and to grasp an object. By using these, the same machine can perform up-down, left-right movement on the net surface and grasping of an object by manipulation.