Variable inner volume mechanism for soft and robust gripping — Improvement of gripping performance for large-object gripping
Variable inner volume mechanism for soft and robust gripping — Improvement of gripping performance for large-object gripping
复制标题
可变内容积机构，实现柔软而坚固的抓握 — 提高大型物体抓握的抓握性能
DOI：
10.1109/ssrr.2016.7784332
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
S. Tadokoro
中科院分区：
文献类型：
--
作者：
M. Fujita;K. Tadakuma;Eri Takane;Tomoyasu Ichimura;Hirone Komatsu;Akito Nomura;M. Konyo;S. Tadokoro
在这项研究中，我们开发了一种能够在低压下抓取柔软物体的夹持器。在灾难现场，机器人必须抓住各种物体。通用夹持器（UG）是夹持工具的一个例子，它是一种利用弹性体袋内谷物的堵塞效应的软夹持器。然而，UG不能精确地适应物体，因为它充满了咖啡颗粒。因此，必须使用强大的压力来将夹具安装到物体上。作为克服该问题的一种方法，需要改变颗粒量的方法。因此，我们设计了一种使用气缸的可变内容积机构。颗粒量相对于内部体积的变化而变化，从而允许可变内部体积夹持器夹持各种物体。在此，我们还测量了物体抓取所需的压力。
In this study, we developed a gripper capable of gripping a soft object with low pressure. At disaster sites, it is necessary for robots to grip various kinds of objects. The universal gripper (UG) is an example of a gripping tool, being a soft gripper that exploits the jamming effect of grain inside an elastomer bag. However, the UG cannot fit to objects precisely, because it is filled with coffee granules. Consequently, strong pressure must be used to fit the gripper onto an object. As one approach to overcoming this problem, a method to change the grain quantity is required. Therefore, we have devised a variable-inner-volume mechanism using an air cylinder. The grain quantity changes relative to changes in the inner volume, allowing the variable-inner-volume gripper to grip various objects. Herein, we also measured the pressure necessary for object gripping.