2A1-E22 開閉両方向に力を増大する平行グリッパ

• 高山 俊男

  東工大

• 牧田 翔太

  東工大

• 小俣 透

  東工大

書誌事項

タイトル別名

• 2A1-E22 Parallel Jaw Griper with Force Magnification Mechanism in Opening and Closing Direction

抄録

We developed a parallel jaw gripper with a force magnification mechanism that can exert a large grip force of 200N. The motion range of the jaw is 100 mm, and its speed is 66 mm/s, and its weight is 2000g. We have proposed a combination mechanism of a high-speed driving and force-magnification mechanism. However the proposed force magnification mechanism can exert a large grasping force only in the closing direction. Moreover it needs to use some non-backdrivable mechanisms, and it has possibility of lock up. The parallel jaw gripper has an improved force magnification mechanism that can magnify the grasping force in both the opening and closing directions, avoiding mechanical lock up. The grasping procedure that can exert a maximum grasping force is also discussed.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2010 (0), _2A1-E22_1-_2A1-E22_2, 2010

  一般社団法人 日本機械学会

キーワード

• Parallel Jaw
• Gripper
• Toggle

詳細情報

• CRID: 1390001205933910784
• NII論文ID: 110008741779
• DOI: 10.1299/jsmermd.2010._2a1-e22_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2010/0/2010__2A1-E22_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可