| Project/Area Number |
25870957
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
Design engineering/Machine functional elements/Tribology
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| Research Institution | Ritsumeikan University |
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Principal Investigator |
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| Project Period (FY) |
2013-04-01 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| Budget Amount *help |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2014: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2013: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
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| Keywords | ロボットハンド / 組立作業 / 把持 / 評価指標 / 最適化 / 実験システム / 制御アルゴリズム / 機構 / 把持戦略 |
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| Outline of Final Research Achievements |
The objective of this research is to construct an algorithm to design an optimum mechanism and plan grasping strategy of a universal robotic hand for an assembly task of a product consisting of variously shaped parts. Toward this objective, a method to evaluate a mechanism and grasping strategy of a universal robotic hand synthetically was proposed, and the optimality of these was defined. The utility of the proposed method was shown with a simple example. Also, the method to optimize grasping of 3-D parts was proposed, and its validity was shown with numerical examples. In addition, a universal robotic hand system was developed for conducting experiments to validate the proposed methods in the real environment.
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