*1

Robotic Hand with Flexible Fingers for Grasping Cylindrical Objects

Mizuho SHIBATA*1

In this manuscript, a robotic hand for grasping a cylindrical object is proposed. This robotic hand has flexible fingers that can hold a cylindrical object during moving. We introduce a grasping strategy for a cylindrical object in terms of state transition graph. In this strategy the robotic hand picks up the cylindrical object utilizing a suction device before the hand grasp the object. We also design the flexible fingers; then, we investigate the validity of this robotic hand via several experiments.

Keywords: Flexible finger, Robotic hand, Grasping, Cylindrical Object

(1)

(2)

(3)

(4)

1

(5) 4

3mm 42mm

1

2

1

2

2015 5 7

*1 739-2116 1E-mail shibata@hiro.kindai.ac.jp

－ 67 －

近畿大学次世代基盤技術研究所報告 Vol. 6（2015）67－71

1

2

1

5kg

250mm

(6)

nL , L = n (n 1)/2

n Ln

a b c

d e f

3

2

L 1

2

3

a b

Object Finger Vacuum suction pad

－ 68 －

c

d

e

f

(e) (f) 2(d)

4

rx c

4 x 0 x 1 x 1 x 2 x 2 x 3 x 3 x 4

L 0 L 1 L 2 L 3

x 2 x 3 x 3 x 4

x 2 x 3 x 3 x 4 x c rx 0 x 1 x 1 x 2 x 2 x 3 x 3 x

x 0 1 2 3

x c x 0 rL 0 L 3 , 0 , 1

2 , 3

N x N = [xN, yN]T

N 1~4 T

(1)

(2)

N-1

(3)2 , 3

x 3 x 4

4

x 2 x 3 x 3 x 4x 2 x 3

ax+by+c = 0

(4) (5)

(6) x c = [xc, yc]T x 2 x 3

(7)

x 2 x 3x 3 x 4

(7)

5 ATBDA 25 60

FH100sereies F125-D

SUS304

5 kg250 mm 80 mm 150 mm

RS10L

4

－ 69 －

6

6

(a)

(b) (c) (d) (e) (f) (g) (h)

(a)(d) (e)

1 , , , , ,, , Gifu Hand

III , , Vol. 22, No. 1, pp. 55-56, 2004.

2 , , , 3

, , Vol. 29, No. 1, pp. 89-98, 2011.

3 , , , ,

－ 70 －

, , Vol. 7, No. 3, pp. 161-171, 1989.

4 G. J. Monkman, S. Hesse, R. Steinmann, H. Schunk, “Robot Grippers”, Wiley-VCH Verlag GmbH & Co. KGaA, 2007.

5

Vol.27, No.9, pp.67-74 2009. 6 , , ,

, 2005.

－ 71 －