Manipulation technology using gripping force control with biomimetic liquid bridge formation and reversible ice bonding

2023 Fiscal Year Final Research Report

• Project/Area Number: 21K03747
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 18010:Mechanics of materials and materials-related
• Research Institution: Tokyo Institute of Technology
• Principal Investigator: Sekiguchi Yu 東京工業大学, 科学技術創成研究院, 助教 (00712423)
• Project Period (FY): 2021-04-01 – 2024-03-31
• Keywords: adhesion / ice / manipulation

Outline of Final Research Achievements

To achieve reversible bonding using the adhesive force of ice, the evaluation of the adhesive force of ice was conducted and a manipulation system was created. In evaluating the adhesive force, the change in force depending on the surface condition and the formation of droplets has been observed. For the manipulation system, probe shapes suitable for the purpose, such as probe shapes prone to condensation or freezing have been searched, and suitable shapes for manipulation have been investigated.

Free Research Field

接合

Academic Significance and Societal Importance of the Research Achievements

マニピュレーションシステムの多様化は製造技術において重要な問題であり，技術的課題の発見や課題の解決は，新たなシステム手法の開発に欠かすことが出来ない．自然現象としては広く知られている氷がくっつく現象を，物体を把持・運搬する技術に転用するための課題や可能性の検討に本研究では取り組んだ．本課題の実施により見えてきた課題への取り組みは，今後，新は把持技術の構築の役に立つと考えられる．