2P1-O03 家庭内物品収納コンテナ用把持機構の開発(インテリジェント・ロボティックルーム)

概要

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This paper reports the development of a mechanism for grasping container cases in home logistical use. When we expect robots to carry something at home, robots have to grasp various goods at home. However, it's very difficult in terms of the complicated problems of recognition and control. To solve these problems, we make a proposal using container cases in home logistical use. Using container cases in logistical use, we can limit subjects which robots have to deal with. In this paper we describe the development of a grasping mechanism only for such container cases. This mechanism can passively permit 10mm errors in positioning. To realize the needs, the mechanism consists of the guide mechanism with a combination of a taper pin and a hole, and the slide mechanism which can switch high and low friction automatically.
一般社団法人日本機械学会の論文
2007-05-11