Development of Grasping Technique with Small Force by Controlling Sweat and Fingerprints
| Project/Area Number |
18K18831
|
|---|
| Research Category |
Grant-in-Aid for Challenging Research (Exploratory)
|
| Allocation Type | Multi-year Fund |
|---|
| Review Section |
Medium-sized Section 20:Mechanical dynamics, robotics, and related fields
|
|---|
| Research Institution | Kanazawa University |
|---|
Principal Investigator |
|
|---|
| Project Period (FY) |
2018-06-29 – 2021-03-31
|
| Project Status |
Completed (Fiscal Year 2020)
|
| Budget Amount *help |
¥6,240,000 (Direct Cost: ¥4,800,000、Indirect Cost: ¥1,440,000)
Fiscal Year 2020: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2019: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2018: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
|
|---|
| Keywords | 摩擦可変 / 表面テクスチャ / ロボットハンド / 摩擦制御 / ロボット / マニピュレーション / 汗・指紋制御 / 微小力 |
|---|
| Outline of Final Research Achievements |
In this study, we attempted to establish a new methodology for object grasping and manipulation by manipulating the surface friction, utilizing the surface texture and liquid film. First, we developed a mechanism to change the surface friction by using a texture that gives high friction in both dry and wet conditions, and a mechanism that exudes a liquid with lubricating effect on the surface. We developed a robot hand equipped with this mechanism, and realized precise object placement and in-hand manipulation to change the holding position of an object by liquid exudation. In the case of soft materials, the size of the contact area corresponds to the size of the friction, and thus we developed a mechanism to change the friction by changing the contact area (texture). The robot hand equipped with this mechanism was used to manipulate tubes.
|
| Academic Significance and Societal Importance of the Research Achievements |
ロボットが扱う対象は“乾燥”していることが暗黙の前提であったが，実際には，食品，台所用品，工業用部品，臓器など液体にまみれている物体も数多く存在する．本研究で確立した，濡れていても乾いていても摩擦を自在に変えながら物体をハンドリング・マニピュレーションの基礎技術を応用することで，これまでロボットでは扱えなかった対象が扱える可能性が生まれた．今後，摩擦制御方法ならびにそれを用いた物体ハンドリング・マニピュレーション技術をさらにより高度化することで，人の生活の近くで人の作業を代替・サポートするロボットの基盤技術となることが期待される．
|
Report
(4 results)
Research Products
(18 results)
