書誌事項
- タイトル別名
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- Development of a Parallel Jaw Gripper with Bidirectional Force Magnification Mechanism(Mechanical Systems)
- 開閉両方向に力の出せる平行グリッパの開発
- カイヘイ リョウ ホウコウ ニ チカラ ノ ダセル ヘイコウ グリッパ ノ カイハツ
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This paper presents a parallel jaw gripper with a force magnification mechanism that can exert a large grasping force of 200N in both the opening and closing directions. We have proposed a combination mechanism of a high-speed driving and force-magnification mechanisms, and developed multifingered hands. The force-magnification mechanisms can maintain a large grasping force wihtout energy consumption. Many parallel jaw grippers are used in factories and they should be energy-saving, which motivated us to develop a parallel jaw gripper with a force magnification mechanism. However, they must exert a grasping force in both the opening and closing directions, whereas the previous force magnification mechanisms can exert a large grasping force only in the closing direction. Therefore we propose a new bidirectional force magnification mechanism. The developed parallel jaw gripper weighs 2kg, and the motion range and speed of its jaws are 100mm and 66mm/s, respectively. The grasping procedure that can exert the maximum grasping force is also discussed. We apply the proposed procedure to the developed gripper and experimentally verify its performances.
収録刊行物
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- 日本機械学会論文集C編
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日本機械学会論文集C編 76 (772), 3542-3548, 2010
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001206387757056
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- NII論文ID
- 110008006866
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- NII書誌ID
- AN00187463
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- ISSN
- 18848354
- 03875024
- http://id.crossref.org/issn/03875024
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- NDL書誌ID
- 10939494
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可