2A2-B02 Morphing Omnidirectional Gripper: "Morphing Omni-Gripper" with Function of Phase-Change Grasping : The Methods to Make the Performance of the Grasping Speed Higher

• TADAKUMA Kenjiro

  University of Electro-Communication

• TADAKUMA Riichiro

  University of Tokyo

• TESHIGAWARA Seiichi

  UEC

• MIZOGUCHI Yoshitomo

  UEC

• HASEGAWA Hiroaki

  UEC

• TERADA Kazuki

  UEC

• TAKAYAMA Toshio

  Titech

• OMATA Toru

  Titech

• MINGI Aigo

  UEC

• Shimojo MAKOTO

  UEC

Bibliographic Information

Other Title

• 2A2-B02 全方向包み込み式なじみグリッパ : 把持応答性向上を目指した各種方法

Abstract

This paper describes the morphing omnidirectional gripper which is able to grasp various objects with low melting point alloy. The deformable part of the gripper changes its shape by covering all directionof objects and makes the contacting area higher. In order to keep the high grasping force, proposed gripper does not need any additional energy thanks to the solid state of the deformable part including low melting point alloy. The design of the actual prototype model with cooling mechanism is shown and built. In addition, the usage of functional fluids for the morphing part is proposed. The basic performance of the blended material of low melting point alloy and magnetic fluid has been observed.

Journal

• The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2009 (0), _2A2-B02_1-_2A2-B02_2, 2009

  The Japan Society of Mechanical Engineers

Keywords

• Morphing
• Omnidirectional
• Deformable Gripper
• Low Melting Point Alloy

Details

• CRID: 1390001205935911168
• NII Article ID: 110008698245
• DOI: 10.1299/jsmermd.2009._2a2-b02_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2009/0/2009__2A2-B02_1/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed