High Speed Handling using inertia forces

高速装卸作业时，夹持器的侧向力较弱，需要一些限制器，以限制侧向力的移动。如果要进行高速搬运，可能会发生从输送机上分离。高速搬运时附加的机械装置可能会变大，从而影响搬运速度。研究的目的是利用工作物体的惯性力来增加抓取力，当工作静止时，末端执行器倾向于利用惯性力来增加抓取力，并将其作为抓取力的组成部分来传递工作。当运动中的工作停止时，末端执行器倾斜到另一个方向，利用惯性力增加抓持力，惯性力的分量作为抓取力。考察了惯性力对抓持力的影响。在静止状态下，抓持力为550gf，然后利用惯性力，抓取力增加到590gf，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.