⟄≧≀యᢕᣢࡢࡓࡵࡢᰂ㌾∎ࢆ᭷ࡍࡿࣟ࣎ࢵࢺࣁࣥࢻࡢ㛤Ⓨ
ᰘ⏣ ⍞✑*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
㸬ࡣࡌࡵ ㏆ᖺ㸪✀ࠎࡢ⏘ᴗ࠾࠸࡚ࣟ࣎ࢵࢺࢩࢫࢸ࣒ࡼࡿ సᴗࡢ⮬ືࡀ㐍ࡵࡽࢀ࡚࠸ࡿ㸬ࡇࢀࡽࣟ࣎ࢵࢺࢩࢫ ࢸ࣒ࡢᐇ⌧ࡼࡾ㸪సᴗࡢຠ⋡ࡔࡅ࡛࡞ࡃᏳᛶࡢ ྥୖࡀぢ㎸ࡲࢀࡿ㸬ᮏ◊✲࡛ࡣ㸪⟄≧≀యࢆᢕᣢ࣭ ᦙ㏦ࡍࡿࡓࡵࡢࣟ࣎ࢵࢺࣁࣥࢻࢆ㛤Ⓨࡍࡿ㸬ࣟ࣎ࢵࢺ ࣁࣥࢻࡢ◊✲ศ㔝ࡣከᒱࢃࡓࡿ㸬ே㛫ࡢᶵ⬟ࢆᶍࡍ ࡇࢆ┠ⓗࡋࡓࣁࣥࢻࡢ㛤Ⓨ(1)㸪ᰂ㌾ᣦࢆ᭷ࡍࡿࣁ ࣥࢻࡼࡿ⨨Ỵࡵၥ㢟ࡢᏳᐃᛶ㛵ࡍࡿ◊✲(2)㸪ࣁ ࣥࢻࡼࡿᢕᥱసᴗࡢᐇ⌧(3)࡞ࡢ◊✲ࡀάⓎ⾜ࢃ ࢀ࡚࠸ࡿ㸬ࡋࡋ࡞ࡀࡽ㸪ᐇ㝿ࡢ⏕⏘⌧ሙ࡛ࡣసᴗࢆ ☜ᐇᐇ⌧ࡍࡿ࠸࠺ほⅬࡽ㸪ᑐ㇟࡞ࡿ≀యྜ ࢃࡏ࡚㸪ᑓ⏝タィࡉࢀࡓࣟ࣎ࢵࢺࣁࣥࢻࢆ⏝ࡍࡿ ࡇࡀከ࠸㸬┿✵྾╔ࣁࣥࢻ㸪㟁☢࣐ࢢࢿࢵࢺࣁࣥࢻ ࡞㸪ᵝࠎ࡞࢚ࣥࢻ࢚ࣇ࢙ࢡࢱࢆ᭷ࡍࡿࣟ࣎ࢵࢺࢩࢫ ࢸ࣒ࡀά⏝ࡉࢀ࡚࠸ࡿ(4)㸬༢⣧ᢕᣢࡍࡿࡇࡔࡅࢆ ᐇ⌧ࡍࡿࣟ࣎ࢵࢺࣁࣥࢻ࡛ࡣ㸪ࣁࣥࢻࡢ⮬⏤ᗘࢆ1 ࡍࡿࡶࡢࡀከ࠸㸬ࡋࡋ࡞ࡀࡽ㸪ࡑࡢᑐ㇟≀య࣭⎔ቃ ᛂࡌ࡚⮬⏤ᗘࢆ⏝ࡍࡿᚲせࡀ࠶ࡿ㸬ᕸᆅࢆᢅ࠺ ࣟ࣎ࢵࢺࣁࣥࢻ(5)࡛ࡣ㸪ࢫ࣮࣒࢝ࣛࡢඛ➃4 ⮬⏤ ᗘࣁࣥࢻࢆᦚ㍕ࡍࡿࡇ࡛㸪సᴗࢆᐇ⌧ࡋ࡚࠸ࡿ㸬 ᮏ◊✲࡛ࡣ㸪⟄≧≀యࢆᦙ㏦ࡍࡿࡓࡵࡢࣟ࣎ࢵࢺ ࣁࣥࢻࢆ〇సࡍࡿ㸬ᮏ◊✲ࡣ㸪┤ᚄ3mm㸪㛗ࡉ 42mm ࡢ⟄≧≀యࢆᡤᐃࡢ⨨ࡽᦙ㏦ࡍࡿࣟ࣎ࢵࢺࣁࣥ ࢻࢆ〇సࡍࡿ㸬ᅗ1 ᑐ㇟࡞ࡿᰕᙧ≧ࢆ♧ࡍ㸬ᮏ ሗ࿌࡛ࡣ㸪ᑐ㇟≀యᦙ㏦ࡢࡓࡵࡢసᴗᡭ㡰ࢆ㆟ㄽࡍࡿ㸬 ᅗ2 ᑐ㇟࡞ࡿᐇ㦂⎔ቃࢆ♧ࡍ㸬ᅗ♧ࡍࡼ࠺ᑐ ᅗ1㸬⟄≧≀య ᅗ2㸬ᐇ㦂⎔ቃ ཎ✏ཷ 2015 ᖺ 5 ᭶ 7 ᪥ *1 ㏆␥ᏛᕤᏛ㒊 ࣟ࣎ࢸࢡࢫᏛ⛉ ㅮᖌ㸪ḟୡ௦ᇶ┙ᢏ⾡◊✲ᡤ ㅮᖌ㸦ࠛ739-2116 ᮾᗈᓥᕷ㧗ᒇ࠺ࡵࡢ㎶ 1 ␒㸧 E-mail [email protected] 近畿大学次世代基盤技術研究所報告 Vol. 6（2015）67－71
㇟≀యࡀᐜჾෆ㞧⨨ࢀ࡚࠸ࡿ≧ែࡽ1 ࡘࡢᑐ ㇟≀యࢆᢕᣢ࣭ᦙ㏦ࡍࡿసᴗࢆᐇ⌧ࡍࡿ㸬≧ែ㑄⛣ࢢࣛ ࣇࡽࡢ㆟ㄽᇶ࡙ࡁ㸪ࡼࡾ⡆౽ᢕᣢࢆᐇ⌧ࡍࡿసᴗ ᡭ㡰ࢆᑟධࡍࡿ㸬ࡲࡓ㸪≀యࢆ㐠ື୰ⴠୗࡉࡏࡿࡇ ࡀ࡞࠸ࡼ࠺㸪㔠ᒓ〇ࡢࣟ࣎ࢵࢺᣦࢆタィ࣭〇సࡍࡿ㸬ࡑ ࡢ᭷ຠᛶࡣᐇ㦂ࢆ㏻ࡋ࡚☜ㄆࡍࡿ㸬 ≀యࢆᢕᣢࡍࡿࡓࡵࡣ㸪࣓࢝ࣛ࡞どぬࢭࣥࢧࢆ⏝ ࠸࡚⨨࣭ጼໃࢆㄆ㆑ࡍࡿᚲせࡀ࠶ࡿ㸬ᮏ◊✲࡛ࡣ㸪ࡇ ࡢ≀యㄆ㆑ࡢ㒊ศࡘ࠸࡚ࡣ◊✲ᑐ㇟ࡏࡎ㸪ᢕᣢ๓ ≀యࡢ⨨࣭ጼໃࡀ࠶ࡽࡌࡵศࡗ࡚࠸ࡿࡶࡢࡍࡿ㸬 㸬ᵝࡢỴᐃ ᮏ◊✲࡛ࡣ㸪ᅗ2 ♧ࡍᐜჾෆ࠶ࡿ⟄≧≀య㸦ᅗ 1㸧ࢆᦙ㏦ᢕᣢࡍࡿࣟ࣎ࢵࢺࣁࣥࢻࢆᐇ⌧ࡍࡿ㸬ᑐ㇟ ≀ࡢ୧➃㠃ࡣࡑࢀࡒࢀ␗࡞ࡿᙧ≧࡛࠶ࡾ㸪Ỵࡵࡽࢀࡓྥ ࡁ࡛Ỵࡵࡽࢀࡓሙᡤ⨨ࡃᚲせࡀ࠶ࡿ㸬ᮏࣟ࣎ࢵࢺࣁࣥ ࢻࢆ〇సࡍࡿୖ࡛ࡢタィ᮲௳ࢆᣲࡆࡿ㸬 ࣭྾╔ࣃࢵࢻࡸ࢚ࢩࣜࣥࢲ࡞ไᚚࡀᐜ᫆࡞ࢡࢳࣗ ࢚࣮ࢱࢆ⏝ࡍࡿ㸬㟁☢࣮ࣔࢱࢆ⏝ࡋࡓ」㞧࡞ไᚚ ࡣ⏝ࡋ࡞࠸㸬 ࣭㧗㏿࡛ᦙ㏦ࡋࡓሙྜᑐ㇟≀ࡀࣁࣥࢻࡽࡣࡎࢀ࡞࠸ ࡼ࠺㸪∎≧ࡢ㒊ᮦ࡛ᢕᣢࡍࡿ㸬 ࣭ࣟ࣎ࢵࢺ࣮࣒ࡢྍᦙ㔜㔞࠶ࢃࡏ࡚㸪ࣁࣥࢻࡢ㉁㔞 ࡣ5kg ௨ୗࡍࡿ㸬 ࣭ྍືᇦࢆከࡃ☜ಖࡍࡿࡓࡵ㸪ࣁࣥࢻࡢ㛗ࡉࢆ⣙ 250mm ⛬ᗘࡍࡿ㸬 ࣭࣮࣡ࢡࢆᢕᣢࡍࡿሙྜ㸪ࣁࣥࢻࡢ୍㒊ࡀᑐ㇟≀య௨እ ࡢ≀యᖸ΅ࡋ࡞࠸ࡼ࠺ࡍࡿ㸬 ࣭⟄≧≀యࢆࡘࢇࡔࡁ㸪∎㒊ࡢ㛫㝽㛫ࡀ✵ ࡞࠸ࡼ࠺ࡍࡿ㸬 㸬ࣟ࣎ࢵࢺࣁࣥࢻ సᴗ᪉⟇ ᮏ⠇࡛ࡣ㸪๓⠇ࡢၥ㢟タᐃᇶ࡙࠸࡚㸪⟄≧≀యࢆ ᢕᣢ࣭ᦙ㏦ࡍࡿࡓࡵࡢసᴗ᪉⟇ࢆỴᐃࡍࡿ㸬ࡇࡇ࡛ࡣ㸪 సᴗయࢆ」ᩘࡢ≀యࡢ᥋ゐ≧ែ࡛⾲⌧ࡋ㸪ࡑࡢ᥋ゐ≧ ែࢆ㑄⛣ࡉࡏࡿၥ㢟ࡋ࡚⪃࠼ࡿ㸬ࡇࡇ࡛㸪᥋ゐ≧ែࢢ ࣛࣇ(6)ࡣ㸪≀యྠኈࡢ᥋ゐ≧ែࡑࡢ㑄⛣ࢆࣀ࣮ࢻ࢚ ࢵࢪࡢ㞟ྜ࡛⾲⌧ࡍࡿࡶࡢ࡛࠶ࡿ㸬࠶ࡿసᴗ࠾࠸࡚㸪 ᥋ゐ≧ែࢆ⾲ࡍࣀ࣮ࢻᩘࢆn ࡍࡿ㸪࢚ࢵࢪࡢ᭱ᩘ L ࡣ, L = n (n 㸫1)/2 ィ⟬࡛ࡁࡿ㸬ࡋࡓࡀࡗ࡚㸪ࣀ࣮ ࢻᩘn ࡀࡁࡃ࡞ࡿ㸪࢚ࢵࢪᩘ L ࡣ⤌ࡳྜࢃࡏ⇿Ⓨࢆ ㉳ࡇࡍ㸬ࡘࡲࡾ㸪≧ែ㑄⛣ࡢほⅬࡽࡣn ࡀྍ⬟࡞㝈ࡾ ᑡ࡞ࡃ࡞ࡿࡼ࠺࡞సᴗ᪉⟇ࢆ㑅ᐃࡍࡿࡇࡀᮃࡲࡋ࠸㸬 ࠼ࡤ㸪࠶ࡿ≀యࢆ㸪∎㒊ࢆ⏝࠸࡚ᢕᣢࡍࡿሙྜ㸪ᢕᣢ 㸦a㸧 㸦b㸧 㸦c㸧 㸦d㸧 㸦e㸧 㸦f㸧 ᅗ3㸬సᴗ᪉⟇ ≀య∎㒊௨እ᥋ゐ≧ែࢆ㑄⛣ࡉࡏࡿ≀యࡀ࡞ࡃ㸪≀ యࢆᢕᣢࡋ࡚࠸ࡿ㸦∎㒊ࡀ≀య᥋ゐࡋ࡚࠸ࡿ㸧㸪≀యࢆ ᢕᣢࡋ࡚࠸࡞࠸㸦∎㒊≀యࡀ᥋ゐࡋ࡚࠸࡞࠸㸧ࡢ2 ࡘ ࡋ᥋ゐ≧ែࡀ࡞࠸࠸࠺సᴗࡀ㑅ᐃ࡛ࡁࢀࡤ㸪࢚ࢵࢪ ᩘL ࡣ 1 ࡞ࡾ㸪ࡑࡢ࢚ࢵࢪ┦ᙜࡍࡿసᴗࢆࡢࡳࢆᐇ ᶵࡼࡗ࡚ᐇ⌧ࡍࡿࡇࡔࡅࢆ⪃࠼ࢀࡤࡼ࠸ࡇ࡞ࡿ㸬 ᮏ◊✲࡛ࡣ㸪ࡇࡢ᥋ゐ≧ែࡢࣀ࣮ࢻᩘࡀ2 ࡞ࡿ≧ἣࢆ ᐇ⌧ࡍࡿࡓࡵ㸪๓ᑐ㇟≀యࢆ✵୰࡛ᣢࡕୖࡆ㸪ᑐ ㇟≀య∎㒊ࡢࡳࡀᏑᅾࡍࡿ≧ἣ࡛ࡢᢕᣢࢆసᴗ᪉⟇ ࡋ࡚㑅ᐃࡍࡿ㸬ᑐ㇟≀యࡢ⨨࣭ጼໃࡢㄆ㆑ࡀᡂຌࡋ࡚ ࠸ࢀࡤ㸪ࡇࡢసᴗ᪉⟇ࡣᐇ⌧ྍ⬟࡛࠶ࡿ⪃࠼ࡽࢀࡿ㸬 ࡇࡢ㆟ㄽࢆ㋃ࡲ࠼㸪ᅗ3 సᴗ᪉⟇ࢆ♧ࡍ㸬ᅗࡢグྕ ࡣୗグࡢ㐣⛬ᑐᛂࡍࡿ㸬 㸦a㸧྾╔ࣃࢵࢻࢆᑐ㇟≀య᥋ゐࡉࡏࡿ㸬 㸦b㸧྾╔ࣃࢵࢻࢆᑐ㇟≀యᢲࡋࡘࡅࡿ㸬ࣃࢵࢻෆࢆῶ ᅽࡍࡿࡇ࡛㸪ᣢࡕୖࡆࡿࡓࡵᚲせ࡞ຊࢆ⎔ቃᅽ 㸦ᅇࡢሙྜẼᅽ㸧ࡢᕪᅽࡽᚓࡿ㸬 Object Vacuum Finger
suction pad
㸦c㸧ᑐ㇟≀యࢆᣢࡕୖࡆࡿ㸬ᑐ㇟≀యࢆⴠࡋࡓሙྜ ࡣ㸪ࣃࢵࢻෆ㒊ࡢᅽຊࡀኚࡍࡿ㸬 㸦d㸧ୖ㒊∎㒊ࡀ᱁⣡ࡉࢀ࡚࠸ࡿሙྜ㸪∎㒊ࢆỈᖹ᪉ྥ ⛣ືࡉࡏࡿ㸬 㸦e㸧∎㒊ࢆᢕᣢࡀ⾜࠼ࡿ⨨ࡲ࡛ୗࡆࡿ㸬ᑐ㇟≀యᖸ ΅ࡋ࡚ᑐ㇟≀యࢆⴠࡋࡓሙྜࡣ㸪ࣃࢵࢻෆ㒊ࡢ ᅽຊࡀኚࡍࡿ㸬 㸦f㸧∎㒊ࢆᕥྑ⛣ືࡉࡏ㸪ᑐ㇟≀యࢆᢕᣢࡍࡿ㸬 㐣⛬(e)㸪(f)ࡀ๓㏙ࡋࡓ 2 ࡘࡢࣀ࣮ࢻᑐᛂࡍࡿ㸬ࡲࡓ㸪 㐣⛬(d)ࡣ㸪∎㒊྾╔ࣃࢵࢻᖸ΅ࡉࡏ࡞࠸ࡓࡵᐇࡍ ࡿࡓࡵ㸪ࣁࣥࢻࡢタィࡼࡗ࡚ࡣ┬ࢀࡿ㸬 ∎㒊ࡢタィ ᮏ⠇࡛ࡣ㸪∎㒊ࡢタィࢆ⾜࠺㸬ᅗ4 ᑐ㇟࡞ࡿᢕᣢ ≀య࠾ࡼࡧ∎㒊ࡢᶍᘧᅗࢆ♧ࡍ㸬⡆༢ࡢࡓࡵᢕᣢࡣᖹ 㠃࡛⾜ࢃࢀࡿ௬ᐃࡍࡿ㸬ࡇࡢࡁ㸪ᢕᣢ≀యࡣ༙ᚄ r ࡢࡋ࡚⾲⌧ࡍࡿ㸬ࡢ୰ᚰࡢᗙᶆࡣ㸪xcࡍࡿ㸬∎ 㒊ࡣ4 ࡘࡢ๛యࣜࣥࢡ㸪x0 x 1㸪x1 x 2㸪x2 x 3㸪x3 x 4 ࡋ࡚㏆ఝࡍࡿ㸬ࡑࢀࡒࢀࡢ㛗ࡉࢆL0㸪L1㸪L2㸪L3 ࡍࡿ㸬ᢕᣢ≧ែࡢࡁࡣ㸪x2 x 3࠾ࡼࡧx3 x 4ࡀᑐ㇟≀ య᥋ゐࡍࡿ㸬ࡋࡓࡀࡗ࡚㸪ࣜࣥࢡ≀య∎㒊ࡢ᥋ゐุ ᐃࡣ㸪x2 x 3࠾ࡼࡧx3 x 4xcࡢ㊥㞳ࡀr ௨ୗ࡞ࡿ ࠺ุ࡛ᐃࡍࡿ㸬ࣜࣥࢡx0 x 1㸪x1 x 2㸪x2 x 3㸪x3 x ࡀx ㍈࡞ࡍゅࢆࡑࢀࡒࢀ㸪ȟ0㸪ȟ1㸪ȟ2㸪ȟ3ࡍࡿ㸬 ⏝ࡍࡿᑐ㇟≀య࠾ࡼࡧࣁࣥࢻ⏝ࡍࡿᶵჾ㸦࢚ࢩ ࣜࣥࢲ࡞㸧ࡢࢧࢬࡼࡾxc 㸪x0࠾ࡼࡧr ࡀ᪤▱࡛࠶ ࡿࡍࡿ㸬ࡲࡓ㸪ᅇࡣࡇࡢ᮲௳ୗ࡛L0㹼L3 , ȟ0, ȟ1 ࡀ᪤▱ࡢࣃ࣓࣮ࣛࢱࡋ࡚㸪ȟ2, ȟ3ࢆỴᐃࡍࡿࡇࢆ ⪃࠼ࡿ㸬୍⯡ࡣ㸪ࡇࢀࡽࡢ್ࢆ୍ពỴᐃࡍࡿࡇࡣ ྍ⬟࡛࠶ࡿ㸬ࡋࡋ࡞ࡀࡽ㸪ຍᕤୖࡢไ⣙ࡸᢕᣢࡢ㝿 Ⓨ⏕ࡍࡿ᥋ゐࡢຊࡢࡁࡉ࡞ࢆ⪃៖ࡋ࡚㸪Ỵᐃࡍࡿ ࡇ࡞ࡿ㸬N ␒┠ࡢⅬxN= [xN,yN]Tࡣୗグࡢࡼ࠺ồ ࡵࡽࢀࡿ㸦N ࡣ 1~4 ࡲ࡛ࡢ⮬↛ᩘ࡛࠶ࡿ㸬ῧ࠼Ꮠࡢ T ࡣ ㌿⨨⾜ิ࡛࠶ࡿࡇࢆ♧ࡍ㸧㸬 (1) (2) ࡓࡔࡋ㸪ゅᗘȘN-1ࡣ㸪 (3) ࡛࠼ࡽࢀࡿ㸬ࡇࡢᘧᇶ࡙ࡁ㸪㐺ᙜ࡞ȟ2, ȟ3ࢆ㑅ᐃ ࡋ㸪㏲ḟⓗィ⟬ࡍࡿ㸪x3 ࠾ࡼࡧx4ࢆồࡵࡿࡇࡀ ࡛ࡁࡿ㸬 ᅗ4㸬ᣦ≀యࡢ㛵ಀ ࡇࡇ࡛ᚓࡽࢀࡓx2 x 3࠾ࡼࡧx3 x 4ࡀ⟄≧≀య᥋ゐ ࡍࡿࢆ⪃࠼ࡿ㸬ࣜࣥࢡx2 x 3ࡢ┤⥺ࡢ᪉⛬ᘧࡣ㸪 ax+by+c = 0 ࠾ࡃ㸪 (4) (5) (6) ࡞ࡿ㸬ࡇࡢࡁ㸪 x c= [xc,yc]Tࡍࡿࣜࣥࢡx2 x 3 ⟄≧≀యࡢ᥋ゐุᐃࡣ㸪 (7) ࢆ‶ࡓࡍ࠺࡞ࡿ㸬ୖグࡢᘧࢆ‶㊊ࡍࡿሙྜ㸪 ⟄≧≀యࣜࣥࢡx2 x 3ࡣ᥋ゐࡍࡿ㸬ྠᵝࡢ⪃࠼᪉ᇶ ࡙ࡁ㸪ࣜࣥࢡx3 x 4ࡀ⟄≧≀య᥋ゐࡍࡿ࠺ࡶ ุᐃࡀྍ⬟࡞ࡿ㸬ࡇࢀࡽࡢᘧ᪤▱ࣃ࣓࣮ࣛࢱࢆ௦ධ ࡍࡿࡇ࡛㸪≀యࡀᢕᣢྍ⬟࡛࠶ࡿࢆ᳨ウࡍࡿ㸬ᘧ(7) ࡢ᮲௳ࢆ➼ྕࡋ࡚࠸ࡿࡢࡣ㸪ᢕᣢᚲせ࡞᥋ゐຊࢆ ∎㒊ࡢኚᙧࡼࡾᚓࡿࡓࡵ࡛࠶ࡿ㸬ᣦඛࡢᮦ㉁ࡣࡤࡡ㗰 ࢆᐃࡋ࡚࠾ࡾ㸪࠶ࡿ⛬ᗘࡢኚᙧࡣチᐜࡉࢀࡿ㸬 ヨసᶵ ᅗ5 ヨసࡋࡓࣟ࣎ࢵࢺࣁࣥࢻࢆ♧ࡍ㸬ࡇࡢヨసᶵ࡛ ࡣ㸪࢚ࢩࣜࣥࢲ㸦ࢥ࢞ࢿ〇 ATBDA 2560㸧㸪ᖹ ⾜ࣁࣥࢻ㸦࣑ࢫ࣑〇FH100sereies F125-D㸧㸪྾╔ࣃࢵ ࢻࢆ⏝࠸ࡓ㸬࢚ࢩࣜࣥࢲ࡛∎㒊ࡢୖୗ㐠ືࢆ㸪ᖹ⾜ࣁ ࣥࢻ࡛∎㒊ࡼࡿᢕᣢືసࢆᐇ⌧ࡋ࡚࠸ࡿ㸬∎㒊ࡣ SUS304 ࡛సᡂࡋࡓ㸬๓⠇ࡢタィᣦ㔪ࢆ㋃ࡲ࠼࡚㸪ᕥྑ 㙾㠃ᑐ㇟ᆺࡢ∎㒊ࡀ㓄⨨ࡉࢀ࡚࠸ࡿ㸬㉁㔞ࡣ∎㒊ࢆྵࡵ ࡚㸪⣙5 kg ࡞ࡗ࡚࠸ࡿ㸬ࣟ࣎ࢵࢺࣁࣥࢻࡢᮏయࡢࡁ ࡣ㸪㧗ࡉࡀ⣙250 mm㸪ᖜࡀ⣙ 80 mm㸪ዟ⾜ࡁ⣙ 150 mm ࡛࠶ࡿ㸬ヨసᶵࡣ㸪ᕷ㈍ࡢࣟ࣎ࢵࢺ࣮࣒㸦ᕝᓮ㔜ᕤᴗ 〇RS10L㸧ࡢඛ➃ྲྀࡾࡅࡿ㸬 4
ᅗ6㸬ᐇ㦂㢼ᬒ 㸬ືసヨ㦂 ᅗ6 ᮏヨసᶵࢆ⏝ࡋࡓ⟄≧≀యࡢᦙ㏦ࢆ♧ࡍ㸬 ᅗࡢグྕࡣୗグࡢ㐣⛬ᑐᛂࡍࡿ㸬 (a) ㊥㞳ࢭࣥࢧࢆ⏝ࡋ࡚㸪ᢕᣢࡍࡿᑐ㇟≀య㸦࣮࣡ࢡ㸧 ࢆỴᐃࡍࡿ㸬 (b) ᢕᣢࡍࡿ࣮࣡ࢡࡢୖࣟ࣎ࢵࢺࣁࣥࢻࡀ⛣ືࡍࡿ㸬 (c) ྾╔ࣃࢵࢻࢆ࣮࣡ࢡᢲࡋࡘࡅ࡚྾ᘬࡍࡿ㸬 (d) ࣮࣡ࢡࢆᣢࡕ࠶ࡆࡿ㸬 (e) ∎㒊ࢆ࣮࣡ࢡࡢ⨨ࡲ࡛ୗࡆࡿ㸬 (f) ࣮࣡ࢡࢆ∎㒊࡛ᢕᣢࡍࡿ㸬 (g) ᢕᣢᚋ㸪ࣟ࣎ࢵࢺ࣮࣒ࢆືࡍ㸬 (h) ᐃࡵࡽࢀࡓ⨨࣮࣡ࢡࢆ⨨ࡃ㸬 ᅗ♧ࡍࡼ࠺㸪ᮏ◊✲࡛ヨసࡋࡓࣁࣥࢻࢆ⏝ࡋ࡚ ⟄≧≀యࢆᢕᣢ࣭ᦙ㏦ྍ⬟࡛࠶ࡿࡇࢆ☜ㄆࡋࡓ㸬㐣 ⛬(a)ࡢ㝿㸪ᑐ㇟≀యࡢ⨨ࡸྥࡁࢆㄗ᳨ฟࡋ࡚ࡋࡲ࠺ ྍ⬟ᛶࡀ࠶ࡾ㸪ࡑࡢ㝿㸪㐣⛬(d)ࡲࡓࡣ㐣⛬(e)ࡢ࠸ࡎࢀ ࡀṇࡋࡃࡋ࡞࠸㸬ࡇࢀࡣ྾╔ࣃࢵࢻࡢᅽຊኚࢆ᳨ ฟࡍࡿࡇ࡛㸪ᡂຌࡢྍྰࢆุูࡍࡿࡇࡀ࡛ࡁࡿ㸬 㸬ࡲࡵ ᮏሗ࿌࡛ࡣ㸪⟄≧≀యࢆᢕᣢ࣭ᦙ㏦ࡍࡿࡓࡵࡢࣟ࣎ ࢵࢺࣁࣥࢻࢆタィ࣭〇సࡋࡓ㸬ᐜჾෆ㞧⨨ࢀࡓ ᑐ㇟≀ࢆᢕᣢࡍࡿࡓࡵ㸪྾╔ࣃࢵࢻ࠾ࡼࡧ㔠ᒓ〇ࡢ∎ 㒊᭷ࡍࡿࣁࣥࢻࡋࡓ㸬∎㒊ࡢタィࢆ⡆౽࡞ࡶࡢࡍ ࡿࡓࡵࡣ㸪ᑐ㇟≀య∎㒊ࡢ᥋ゐ≧ែࢢࣛࣇࡢࣀ࣮ࢻ ᩘࢆῶࡽࡍᚲせࡀ࠶ࡿ㸬ࡑࡇ࡛㸪∎㒊࡛ᑐ㇟≀యࢆᢕᣢ ࡍࡿ๓㸪࠶ࡽࡌࡵ྾╔ࣃࢵࢻ࡛ᑐ㇟≀యࢆᣢࡕୖࡆ㸪 ∎㒊ࡀᑐ㇟≀య௨እ᥋ゐࡋ࡞࠸సᴗ᪉⟇ࢆᑟධࡋࡓ㸬 ࡲࡓ㸪྾╔ࣃࢵࢻ࡛ᑐ㇟≀ࢆᣢࡕୖࡆࡿࡁ㸪∎㒊 ᑐ㇟≀ࡀᖸ΅ࡋ࡞࠸ࡼ࠺㸪∎㒊ࢆୖୗ㐠ືࡉࡏࡿタィ ࡋࡓ㸬∎㒊ࡢᮦ㉁ࡣࡤࡡ㗰ࡋࡓ㸬㐠ື୰∎㒊ࡀᢕ ᣢࡋ⥆ࡅࡿࡇࢆ┠ᶆ㸪∎㒊ࡢᙧ≧ࢆタィ࣭〇సࡋࡓ㸬 ᐇ㦂ࢆ㏻ࡋ࡚ࣁࣥࢻࡢ᭷ຠᛶࢆ☜ㄆࡋࡓ㸬 ㅰ㎡ ᮏ◊✲ࡣ㸪ࢩࢢ࣐ᰴᘧ♫ࡢඹྠ◊✲ࡢᡂᯝ࡛࠶ࡿ㸬 ࡲࡓ㸪ᮏ◊✲ࡢ୍㒊ࡣඖᮌຬྩࡢ༞ᴗ◊✲ᇶ࡙࠸࡚࠸ ࡿ㸬ࡇࡇㅰពࢆ⾲ࡍࡿ㸬 ཧ⪃ᩥ⊩ 㸦1㸧ᕝᓮᬕஂ, ẟဴஓ, ఀ⸨⪽, ୗᮧᑦஅ, ᯇἼಇᐉ, ⰼ⏣ఙ, ᮾ㍤᫂,͆ே㛫ᆺࣟ࣎ࢵࢺࣁࣥࢻ Gifu Hand III͇, ᪥ᮏࣟ࣎ࢵࢺᏛㄅ, Vol. 22, No. 1, pp. 55-56, 2004. 㸦2㸧⏣ཎ, ᭷ᮏ༟, ྜྷ⏣Ᏺኵ,͆ᰂ㌾ 3 ᣦࣁࣥࢻࡼ ࡿ௬ࣇ࣮࣒ࣞࢆ⏝࠸ࡓᢕᣢ≀యࡢእ⏺ࢭࣥࢧࣞࢫ ⨨࣭ጼໃไᚚ͇,᪥ᮏࣟ࣎ࢵࢺᏛㄅ, Vol. 29, No. 1, pp. 89-98, 2011. 㸦3㸧㔠Ꮚ┿, ᮧಙ, ᶓ୍ோ, ㇂Ụ㞝,͆ᦶ᧿ࢆ⪃
៖ࡋࡓከᣦࣁࣥࢻࡢ๛ᛶࣔࢹࣝࡼࡿᏳᐃᢕᥱゎ ᯒ͇, ᪥ᮏࣟ࣎ࢵࢺᏛㄅ, Vol. 7, No. 3, pp. 161-171, 1989.
㸦4㸧G. J. Monkman, S. Hesse, R. Steinmann, H. Schunk, “Robot Grippers”, Wiley-VCH Verlag GmbH & Co. KGaA, 2007.
㸦5㸧ᰘ⏣⍞✑㸪ኴ⏣๛ኈ㸪ᖹៅ୍㸪͆ࡳࡾືసࢆ ⏝ࡋࡓᕸᆅࡢᒎ㛤ືస͇㸪᪥ᮏࣟ࣎ࢵࢺᏛㄅ㸪 Vol.27, No.9, pp.67-74㸪2009.
㸦6㸧ᖹៅ୍, ⱝᯇᰤྐ, ͆ࣁࣥࢻࣜࣥࢢᕤᏛ͇, ࢥࣟ ࢼ♫, 2005.
