TY - GEN
T1 - Variable inner volume mechanism for soft and robust gripping - Improvement of gripping performance for large-object gripping
AU - Fujita, Masahiro
AU - Tadakuma, Kenjiro
AU - Takane, Eri
AU - Ichimura, Tomoya
AU - Komatsu, Hirone
AU - Nomura, Akito
AU - Konyo, Masashi
AU - Tadokoro, Satoshi
PY - 2016/12/14
Y1 - 2016/12/14
N2 - In this study, we developed a gripper capable of gripping a soft object with low pressure. At disaster sites, it is necessary for robots to grip various kinds of objects. The universal gripper (UG) is an example of a gripping tool, being a soft gripper that exploits the jamming effect of grain inside an elastomer bag. However, the UG cannot fit to objects precisely, because it is filled with coffee granules. Consequently, strong pressure must be used to fit the gripper onto an object. As one approach to overcoming this problem, a method to change the grain quantity is required. Therefore, we have devised a variable-inner-volume mechanism using an air cylinder. The grain quantity changes relative to changes in the inner volume, allowing the variable-inner-volume gripper to grip various objects. Herein, we also measured the pressure necessary for object gripping.
AB - In this study, we developed a gripper capable of gripping a soft object with low pressure. At disaster sites, it is necessary for robots to grip various kinds of objects. The universal gripper (UG) is an example of a gripping tool, being a soft gripper that exploits the jamming effect of grain inside an elastomer bag. However, the UG cannot fit to objects precisely, because it is filled with coffee granules. Consequently, strong pressure must be used to fit the gripper onto an object. As one approach to overcoming this problem, a method to change the grain quantity is required. Therefore, we have devised a variable-inner-volume mechanism using an air cylinder. The grain quantity changes relative to changes in the inner volume, allowing the variable-inner-volume gripper to grip various objects. Herein, we also measured the pressure necessary for object gripping.
UR - http://www.scopus.com/inward/record.url?scp=85009738402&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85009738402&partnerID=8YFLogxK
U2 - 10.1109/SSRR.2016.7784332
DO - 10.1109/SSRR.2016.7784332
M3 - Conference contribution
AN - SCOPUS:85009738402
T3 - SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics
SP - 390
EP - 395
BT - SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics
A2 - Melo, Kamilo
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016
Y2 - 23 October 2016 through 27 October 2016
ER -