柔軟把持システムのためのコンピュータ支援グリッパ設計
CAGD - Computer Aided Gripper Design for a Flexible Gripping System
多様な形状のワークピースに対応できる柔軟なグリッパを、人間とコンピュータによる把持対象解析およびサーボモータによる機械的適応を組み合わせて開発した研究。
著者: Michael Sdahl, Bernd Kuhlenkoetter
分類: cs.RO
原文アブストラクト
This paper is a summary of the recently accomplished research work on flexible gripping systems. The goal is to develop a gripper which can be used for a great amount of geometrically variant workpieces. The economic aspect is of particular importance during the whole development. The high flexibility of the gripper is obtained by three parallel used principles. These are human and computer based analysis of the gripping object as well as mechanical adaptation of the gripper to the object with the help of servo motors. The focus is on the gripping of free-form surfaces with suction cup.