Paper:
Development of Pneumatically Driven Hand Capable of Grasping Flexible Objects
Kotaro Nishikawa*, Kentaro Hirata**, and Masahiro Takaiwa***
*Department of Integrated Science and Technology, National Institute of Technology, Tsuyama College
624-1 Numa, Tsuyama, Okayama 708-8509, Japan
**Graduate School of Natural Science and Technology, Okayama University
3-1-1 Tsushima-naka, Kita-ku, Okayama 700-8530, Japan
***Graduate School of Technology, Industrial and Social Sciences, Tokushima University
2-1 Minamijyousanjima-cho, Tokushima 770-8506, Japan
Industrial robots equipped with various grippers have been introduced in production sites and most of them are electrically driven. Because of the electric actuator’s characteristics, they have no back drivability, making it difficult for them to grasp flexible objects. In this study, therefore, we propose a pneumatically driven robot hand capable of grasping flexible objects by effectively employing the compressibility and back drivability of air.
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