Study on flexible gripping mechanism for realizing miniature electric gripper

• Project/Area Number: 20760164
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: University of Fukui
• Principal Investigator: ANDO Hiroki University of Fukui, 大学院・工学研究科, 助教 (60377819)
• Project Period (FY): 2008 – 2009
• Project Status: Completed (Fiscal Year 2009)
• Budget Amount: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000); Fiscal Year 2009: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000); Fiscal Year 2008: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
• Keywords: ロボットグリッパ / コンプライアントメカニズム / ソフトメカニクス / 柔軟把持機構

Research Abstract

In the field of industrial robots, miniaturization and electric motorization of robotic grippers are required from the viewpoint of energy-saving and controllability. This work developed gripping mechanisms to fulfill these requirements, based on a robotic gripper with flexible fingers. Moreover, this work developed design models to easily design the mechanisms.

Research Products

• [Presentation] Modeling of a flexible gripping mechanism based on the principle of stationary potential energy (2009)
  • Author(s): 安藤大樹
  • Organizer: ICMIT2009
  • Place of Presentation: Gwangju, Korea
  • Year and Date: 2009-12-04
• [Presentation] Modeling of a flexible gripping mechanism based on the principle of stationary potential energy (2009)
  • Author(s): 安藤大樹
  • Organizer: Int.Conf. on Mechatronics and Information Tech.
  • Place of Presentation: Gwangju, Korea
  • Year and Date: 2009-12-04
• [Presentation] Simulation of the gripping action of a simple gripping mechanism with flexible fingers (2009)
  • Author(s): 安藤大樹
  • Organizer: ISAMPE2009
  • Place of Presentation: Shanghai, China
  • Year and Date: 2009-11-06
• [Presentation] Simulation of the gripping action of a simple gripping mechanism with flexible fingers (2009)
  • Author(s): 安藤大樹
  • Organizer: Int.Symp. on Adv.Mechanical and Power Eng.
  • Place of Presentation: Shanghai, China
  • Year and Date: 2009-11-06
• [Presentation] 柔軟把持機構の把持力と弾性座屈の関係 (2009)
  • Author(s): 安藤大樹
  • Organizer: 日本機械学会2009年度年次大会
  • Place of Presentation: 岩手大学
  • Year and Date: 2009-09-14
• [Presentation] 柔軟把持機構の変形に関する研究 (2009)
  • Author(s): 伊藤隆晃
  • Organizer: 日本機械学会北陸信越支部講演会
  • Place of Presentation: 富山大学工学部
  • Year and Date: 2009-03-07
• [Presentation] Enhancement of gripping efficiency of miniature gripper applying elastic buckling phenomenon by constraining deformation (2008)
  • Author(s): 安藤大樹
  • Organizer: 2008 ASME IMECE
  • Place of Presentation: Boston, Massachusetts, USA
  • Year and Date: 2008-11-06
• [Presentation] Enhancement of Gripping Efficiency of Miniature Gripper Applying Elastic Buckling Phenomenon by Constraining Deformation (2008)
  • Author(s): 安藤大樹
  • Organizer: 2008 ASME IMECE
  • Place of Presentation: Boston, Massachusetts, USA
  • Year and Date: 2008-11-06
• [Presentation] Gripping efficiency of simple gripping mechanism with hinges (2008)
  • Author(s): 安藤大樹
  • Organizer: 2008 ASME IDETC&CIE
  • Place of Presentation: Brooklyn, New York, USA
  • Year and Date: 2008-08-05
• [Presentation] Gripping Efficiency of Simple Gripping Mechanism with Hinges (2008)
  • Author(s): 安藤大樹
  • Organizer: 2008 ASME IDETC&CIE
  • Place of Presentation: Brooklyn, New York, USA
  • Year and Date: 2008-08-05