Gripping Force Modeling of a Binding Hand

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説明

Lunch boxes (boxed meals) are popular in Japan, as they are in many locations. Japanese lunch boxes contain foods with a wide variety of shapes, and many are flexible or soft. The current generation of robotic hands often struggles to grasp objects like this. This research aims to develop a robotic hand based on the use of a flexible thread that grasps objects by binding them. In this paper, we present a theoretical model for binding an object. The balance of forces is derived using binding thread tension and gripping force. A simulation of binding hands with three to six fingers revealed that a three-fingered solution should have the highest gripping force under ideal conditions. On the basis of these results, we prototyped an actual binding hand and conducted preliminary grasping tests to confirm the basic design.

収録刊行物

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