• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to project page

2023 Fiscal Year Final Research Report

Membrane-less Jamming Gripper

Research Project

  • PDF
Project/Area Number 21K19807
Research Category

Grant-in-Aid for Challenging Research (Exploratory)

Allocation TypeMulti-year Fund
Review Section Medium-sized Section 61:Human informatics and related fields
Research InstitutionKobe City College of Technology

Principal Investigator

SHIMIZU TOSHIHIKO  神戸市立工業高等専門学校, その他部局等, 准教授 (30725825)

Co-Investigator(Kenkyū-buntansha) 池本 周平  九州工業大学, 大学院生命体工学研究科, 准教授 (00588353)
Project Period (FY) 2021-07-09 – 2024-03-31
KeywordsJamming / Robot gripper / Manipulation / Granular material / Soft robotics
Outline of Final Research Achievements

In this study, a jamming gripper composed only of powder is proposed. A jamming gripper with a elastomer membrane bag filled with powder is a versatile gripper that can grasp a variety of products by means of a jamming transition that switches between flexible and rigid states by changing the density of the powder filling rate. We have developed a rupture-resistant gripper that uses micro-magnetic powder existing in a magnetic field, thereby eliminating the physical restriction of a membrane bag and realizing a vacuum gripper with rupture resistance. We also developed a self-healing vacuum gripper using silicon clay mixed with oil and powder, and showed that it can adhere to sharp surfaces and self-healing ability.

Free Research Field

ロボティクス

Academic Significance and Societal Importance of the Research Achievements

学術的意義は,ジャミングリッパにおける本質的課題である, 表面が突出した鋭利な構造物などを把持した際, 膜が破断するという点について,粉体特性に着目した耐破断機構を検証したことにある. 自己修復ポリマーによる熱修復などと比較し,提案手法は修復の応答性に優れるという特性を有する.
また社会的意義は,凹凸面に吸着可能かつ耐破断性に優れた真空吸着グリッパを提案・開発したことにある.例えば,社会インフラが老朽化する本邦において,吸着式移動ロボットによる自律検査が望まれている.1 つのハンドで多種類の対象物に対応できる吸着ハンドを実現することで,インフラの健全性評価に貢献することが可能となる.

URL: 

Published: 2025-01-30  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi