Variable inner volume mechanism for soft and robust gripping - Improvement of gripping performance for large-object gripping

Masahiro Fujita, Kenjiro Tadakuma, Eri Takane, Tomoya Ichimura, Hirone Komatsu, Akito Nomura, Masashi Konyo, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationSSRR 2016 - International Symposium on Safety, Security and Rescue Robotics
EditorsKamilo Melo
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages390-395
Number of pages6
ISBN (Electronic)9781509043491
DOIs
Publication statusPublished - 2016 Dec 14
Event14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016 - Lausanne, Switzerland
Duration: 2016 Oct 232016 Oct 27

Publication series

NameSSRR 2016 - International Symposium on Safety, Security and Rescue Robotics

Other

Other14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016
CountrySwitzerland
CityLausanne
Period16/10/2316/10/27

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Artificial Intelligence
  • Safety, Risk, Reliability and Quality

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