High Speed Handling using inertia forces

在工件的高速搬运中，由于工件的横向抓持力较弱，因此需要一些限位器来限制横向抓持力的移动。如果进行高速处理，可能会发生从输送机上脱落的情况。高速处理的附加装置可能会变大，从而影响处理速度。本研究的目的是利用工件的惯性力来增加抓取力。当工件静止抓取时，末端执行器倾向于利用惯性力来增加抓取力，其中惯性力的分量充当抓取力，并传送工件。当工件在移动中停止时，末端执行器向另一方向倾斜，以利用惯性力来增加抓取力，惯性力的分量用作抓取力。研究了由惯性力引起的抓握力的增加。在静止时，抓握力为550 gf，然后使用惯性力，抓握力增加到590 gf，这表明惯性力的利用。

High speed handling of the works, of which the lateral force for the grip was weak, needs some stoppers for the limitation of the movement for the lateral forces. The detach from the conveyer might be happen if high speed handling would be performed. The additional apparatus for the high speed handling might become large, which affect the speed of the handling.The research is aimed for the increase for the grasp forces using a inertia force of the works.When the work was grasped at rest, the end effector was inclined to increase the grasp forces using the inertia forces, the component of which was acted as a grasp force, and convey the work. When the work stopped in the movement, the end effector was inclined to the another direction to increase the grasp forces using the inertia forces, the component of which was acted as a grasp force. The increase of the grasp force by the inertia force was examined. AT rest, the grasp force was 550 gf, then using a inertia forces, the grasp force was increased to 590 gf., which showed the utilization of the inertia force.