ダイナミックダンパで指を制振させたグリッパの基礎研究

DOI Web Site 被引用文献1件 参考文献5件
  • 本田 智
    正会員 東京理科大学 (現, 東京都立科学技術大学)

書誌事項

タイトル別名
  • Development of an Intelligent Gripper with Dynamic Vibration Absorbers.
  • ダイナミック ダンパ デ ユビ オ セイシンサセタ グリッパ ノ キソ ケンキ

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抄録

An intelligent gripper has been developed. The gripper can handle an object of unknown weight and unknown surface condition with the most suitable grasping force. Additionally, the gripper can adapt the grasping force to the most suitable value for the object even if the weight or the surface conditions of the object change. The gripper has two parallel fingers. Each finger is composed of a mechanical vibration system having two degrees of freedom. The system consists of a structural finger, a support spring, a grasping finger, an absorber spring and an oscillator. In the grasping finger, a harmonic force is always generated and absorbed by a dynamic vibration absorber consisting of the oscillator and the absorber spring, so that the grasping finger is kept in a stationary condition and the oscillator vibrates with a constant amplitude. The object is grasped between both grasping fingers. When the object is grasped with the most suitable grasping force, not only the object and both grasping fingers become stationary but also both oscillators become stationary because harmonic forces are transmitted to the object from each grasping finger and the two harmonic forces cancel each other out. In this gripper, the grasping force is adjusted to the most suitable value as the amplitudes of both oscillators are reduced to zero. This paper describes a fundamental principle of this intelligent gripper and the principle is confirmed by experiment.

収録刊行物

  • 精密工学会誌

    精密工学会誌 63 (6), 824-828, 1997

    公益社団法人 精密工学会

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