Robot hand for handling cloth
Robot hand for handling cloth
复制标题
用于处理布料的机器人手
DOI：
10.1109/icar.1991.240582
复制
发表时间：
1991
期刊：
影响因子：
--
通讯作者：
N. Aisaka
中科院分区：
文献类型：
--
作者：
E. Ono;H. Ichijou;N. Aisaka
研制了一种处理布料的机器人手。在所描述的研究中，作者试图从一堆布中拿起一块布，运输它并通过机器人手将其放置在规定的位置。机器人手有两个手指，连接在一个小型工业机器人手臂上。当手接触目标表面时，手可以测量目标表面的高度。手拿起一块布后，检查其厚度是否几乎等于一块的厚度。手拿起一块布后，即使在基本垂直的表面上，手也可以放置它而无需交换握持姿势。手本身是一个厚度和触摸传感器。在机器人手的原型将一块布放在斜面上的实验中，滑动距离的平均值在3mm以内，并且位置再现性在1mm以内。<<ETX>>
A robot hand to handle cloth has been developed. In the study described, the authors tried to pick up a piece of cloth from a stack of cloth, to transport it and to set it at a stated position by means of a robot hand. The robot hand has two fingers and is attached to a small industrial robot arm. The hand can measure the height of a target's surface when the hand touches the surface. And the hand picks up a piece of cloth after checking whether its thickness is nearly equal to one piece's thickness. After the hand picks up a piece of cloth, the hand can set it without an exchange of holding postures even on a vertical surface basically. The hand itself is a thickness and touch sensor. In the experiment that the prototype of the robot hand placed a piece of cloth on a slant, the mean value of a slipped distance was within 3 mm, and position reproducibility was within 1 mm.<<ETX>>