1A1-I02 流動体を用いた受動変形柔軟ハンドによる接触圧評価(ロボットハンドの機構と把持戦略)

概要

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Secure grip by conventional robot hand without any damages for the soft and easily damaged object such as strawberry is very difficult to realize. This study aims to develop a novel robot hand (finger) for the grasping of such soft and indeterminate form objects. As the methods for grasping such soft objects, soft material covered finger, increasing contact area by multiple joints mechanism, sensing and control of the contact force are used and developed. However, it is not so easy to realize a stable grip for indeterminate form objects. Most existing robot hands do not have sufficient performance for the soft and easily damaged object on the stress of contact surface. This article proposes a passively deformable soft finger to grip such easily damaged and indeterminate form objects. The hand uses a soft bag in which a fluent material is filled. This hand enables uniform contact pressure distribution for the contact surface by deforming the shape of the hand passively and by hydrostatic pressure inside the bag. The contact pressure distribution is measured to evaluate the performance of the hand.
2011-05-26