2022 Fiscal Year Final Research Report
Creation of a robot hand with super-shape and rigid variable gripping mechanism by temperature control of shape memory gel
Project/Area Number |
20K14703
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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 | Tsuruoka National College of Technology |
Principal Investigator |
Wada Masato 鶴岡工業高等専門学校, その他部局等, 准教授 (10803752)
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Project Period (FY) |
2020-04-01 – 2023-03-31
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Keywords | ソフトロボティクス / ソフトメカニクス / ハイドロゲル |
Outline of Final Research Achievements |
Considering implementation on a robot hand, we selected an acrylamide-based hydrogel that incorporates crystalline monomers into its composition. Two types of crystalline monomers, stearyl acrylate (SA) and lauryl acrylate (LA), were used to express the changes in mechanical properties due to the temperature of the gel in a temperature range that is easy to handle. We determined the composition ratio of the gel suitable for the heating system of the robot hand by investigating the mechanical test and temperature characteristics with the plate-shaped gel, and confirmed that it is possible to apply it to the robot hand. Using 3D modeling technology, we realized gel modeling with a general-purpose device. Three-dimensional measurement technology was examined and measured for molding accuracy. We also found out the knowledge about the adhesive strength of the gel surface in the temperature characteristics of the shape memory gel.
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Free Research Field |
ソフトロボティクス,ソフトメカニクス
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Academic Significance and Societal Importance of the Research Achievements |
医療や災害などにおけるロボット活用は必至であり,様々な産業分野での技術開発が行われている.なかでも,高精度な制御を必要とせず,複雑形状の対象物に柔軟性をもって対応可能であるソフトマテリアルを活用したロボットが求められている.本研究では,形状記憶ゲルの特性を活かした簡便な機構の新しいロボットハンドの開発を行った.このロボットハンドが完成することで安価かつ柔軟性を持った,対象物を選ばないソフトロボットハンドとして,医療,災害,工業の分野での活用が期待される.
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