万能真空吸着グリッパへのフィンガの統合検討

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書誌事項

タイトル別名
  • Consider Integration of Finger into Universal Vacuum Gripper
  • -Performance Comparison between Soft Finger Built-in Type and Hard Finger External Type-
  • ―ソフトフィンガ内蔵型とハードフィンガ外付け型の性能比較―

抄録

<p>In this paper, two types of Universal Vacuum Chuck (in short, UVC) with a finger structure for grasping various objects are proposed. The UVC is a vacuum suction cup based on the jamming transition phenomenon, which is a combination of Universal Vacuum Gripper and robotic finger. One of UVC has a built-in soft finger, and the other type has an external hard finger. The adhesion and gripping performance of the two UVCs were evaluated. The soft finger type was suitable the low and wide uneven surface and was able to grip a small test piece. On the other hand the hard finger type was suitable high and narrow uneven surfaces and showed high gripping force.</p>

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