Control of Bending and Suction Pressure for Pneumatic Multifunctional Soft Hand and Application to Motion Switching
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- OTSUKI Shotaro
- Kagawa University
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- SASAKI Daisuke
- Kagawa University
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- HARADA Kaisei
- Kagawa University
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- KAJIKAWA Hiromichi
- SMC Corporation
Bibliographic Information
- Other Title
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- 多機能ソフトロボットハンドの湾曲・吸着圧制御と動作切り替えへの応用
Abstract
<p>The purpose of this study is to develop a soft robot hand that can grasp an object, which has various shape or characteristic. By combining bending motion of a soft actuator and vacuum suction using a vacuum ejector, the developed finger can both grasp objects and suck object surfaces. In addition, as a vacuum ejector is introduced in order to generate negative pressure, both bending and suction movements can be realized by using only a positive pressure source. In this paper, we describe the control method for bending and suction pressure in order to keep simultaneously the desired value and then discuss the method for switching grasp/suction movements according to an object.</p>
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2023 (0), 2A2-E09-, 2023
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390580394708178688
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
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- Abstract License Flag
- Disallowed