Improvement of grasping performance by texture structure pattern in two-layer fluid fingertip and clarification of its mechanism
Project/Area Number |
18K13719
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Research Category |
Grant-in-Aid for Early-Career Scientists
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Allocation Type | Multi-year Fund |
Review Section |
Basic Section 20020:Robotics and intelligent system-related
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Research Institution | Muroran Institute of Technology |
Principal Investigator |
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Project Period (FY) |
2018-04-01 – 2021-03-31
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Project Status |
Completed (Fiscal Year 2020)
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Budget Amount *help |
¥3,250,000 (Direct Cost: ¥2,500,000、Indirect Cost: ¥750,000)
Fiscal Year 2020: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2019: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2018: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
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Keywords | ロボットハンド / ロボット指 / 流体指 / ソフトロボット / テクスチャ構造 / 把持耐力 / 力計測 / 物体把持 |
Outline of Final Research Achievements |
In this study, in order to further improve the grasping performance of a two-layered fluid fingertip with a rigid structure inside a fluid-filled finger, we developed a finger with a milli-scale texture structure on the rigid structure, and investigated the performance evaluation and the relationship between the texture structure patterns and the grasping performance. In order to improve the grasping performance, we have developed a finger with a rigid structure and a textured structure. It was found that there was no significant difference in the grasping force between the texture structures when the contact was with a flat surface, and that the contact pressure was more easily distributed when the curvature was higher and the pitch of the pattern was narrower.
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Academic Significance and Societal Importance of the Research Achievements |
多層化した指が開発されているが各層の形状やミリスケールのテクスチャ構造が物体把持に与える効果やそのメカニズムについては未解明の部分が多い.そこで,本研究では,物体把持に与える効果について把持耐力や接触圧力に着目し,テクスチャ構造の設計パラメータを形状,ピッチ,高さで整理して検証実験を行い調査した.これらの検証実験で得られた結果は,目的のタスクに応じてテクスチャ構造を設計するときの指針の基礎になるものである.
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Report
(4 results)
Research Products
(5 results)