Development of a three-fingered jamming gripper for corresponding to the position error and shape difference

Kohei Amano, Yukiko Iwasaki, Koki Nakabayashi, Hiroyasu Iwata

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

In this research, we consider a small-degree-of-freedom (SDOF) end effector aimed at absorbing position error and object shape difference. The end effector that can grasp various shapes with a SDOF simplifies the control method and thus improves versatility for existing robot systems. However, the conventional SDOF end effector cannot perform precise operation as compared with high degrees of freedom, so it becomes weak against shape difference and position error of the object to be held. Therefore, in this research, we focused on 'drawing function' and 'adapting function' which are effective for error absorption and developed an end effector capable of absorbing errors by integrating them into a SDOF. We evaluated the error absorption performance of the developed integrated end effector and examined the mechanism.

本文言語English
ホスト出版物のタイトルRoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics
出版社Institute of Electrical and Electronics Engineers Inc.
ページ137-142
ページ数6
ISBN(電子版)9781538692608
DOI
出版ステータスPublished - 2019 5月 24
外部発表はい
イベント2019 IEEE International Conference on Soft Robotics, RoboSoft 2019 - Seoul, Korea, Republic of
継続期間: 2019 4月 142019 4月 18

出版物シリーズ

名前RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics

Conference

Conference2019 IEEE International Conference on Soft Robotics, RoboSoft 2019
国/地域Korea, Republic of
CitySeoul
Period19/4/1419/4/18

ASJC Scopus subject areas

  • 材料科学(その他)
  • 人工知能
  • 機械工学
  • 制御と最適化

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