著者

玉本 拓巳 佐山 和宏 小金澤 鋼一

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.33, no.9, pp.689-695, 2015 (Released:2015-12-15)

参考文献数

9

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This paper proposes a multi-joint-gripper that achieves envelope grasping for unknown shape objects. The proposed mechanism is based on a chain of Differential Gear Systems (DGS) controlled by only one motor. It also equips a Variable Stiffness Mechanism (VSM) that controls joint stiffness to relieve interferences suffered from external environment and to achieve a dexterous grasping. The experiments elucidated that the developed gripper achieves envelop grasping; the posture of the gripper automatically fits the shape of the object with no sensory feedback. And they also showed that the VSM effectively works to relieve external interferences. This paper shows the mechanism and experimental results of the second test machine that was developed inheriting the idea of DGS used in the first test machine but has a completely altered VSM.