水中作業ロボット用多関節グリッパの開発(機械力学,計測,自動制御)

概要

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An adaptive multifinger gripper system was developed for underwater ROV. The system, named The Artifact 'K' apture Operator (TAKO) gripper, provides soft and adaptive envelope grasp with three articulated fingers. Each finger comprises five segments and performs like an octopus tentacle. The gripper has 15 segments in total, yet they are coordinately driven by one single motor and tendon mechanisms. This design allows the gripper system compact, light weight, and less expensive. The TAKO gripper is mounted on an underwater ROV named Triton that is a research oriented test platform developed at Santa Clara University. The TAKO-Triton integrated test was carried out successfully for the artifact pick-up operation from the bottom of the water.
社団法人日本機械学会の論文
2002-11-25