2015 Fiscal Year Final Research Report
Optimum Design of Mechanism and Grasping Strategy of Universal Robotic Hand with Robustness to Initial Pose Errors of Variously Shaped Parts for Assembly Tasks
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 |
Research Field |
Intelligent mechanics/Mechanical systems
Design engineering/Machine functional elements/Tribology
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Research Institution | Ritsumeikan University |
Principal Investigator |
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Project Period (FY) |
2013-04-01 – 2016-03-31
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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 |
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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Free Research Field |
ロボット工学
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