High Speed Handling using inertia forces

• Project/Area Number: 13650271
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: The University of Tokyo
• Principal Investigator: TORII Toru The University of Tokyo, Engineering, Associate Prof., 大学院・工学系研究科, 助教授 (60172227)
• Project Period (FY): 2001 – 2002
• Project Status: Completed (Fiscal Year 2002)
• Budget Amount: ¥4,100,000 (Direct Cost: ¥4,100,000); Fiscal Year 2002: ¥1,600,000 (Direct Cost: ¥1,600,000); Fiscal Year 2001: ¥2,500,000 (Direct Cost: ¥2,500,000)
• Keywords: Inertia force / High speed handling / end effector / 慢性力利用 / ロボットハンド / 把持力

Research Abstract

High speed handling of the works, of which the lateral force for the grip was weak, needs some stoppers for the limitation of the movement for the lateral forces. The detach from the conveyer might be happen if high speed handling would be performed. The additional apparatus for the high speed handling might become large, which affect the speed of the handling.
The research is aimed for the increase for the grasp forces using a inertia force of the works.
When the work was grasped at rest, the end effector was inclined to increase the grasp forces using the inertia forces, the component of which was acted as a grasp force, and convey the work. When the work stopped in the movement, the end effector was inclined to the another direction to increase the grasp forces using the inertia forces, the component of which was acted as a grasp force. The increase of the grasp force by the inertia force was examined. AT rest, the grasp force was 550 gf, then using a inertia forces, the grasp force was increased to 590 gf., which showed the utilization of the inertia force.