⟄ ≧ ≀ య ᢕ ᣢ ࡢ ࡓ ࡢᰂ ㌾ ∎ ᭷ ࡍ ࢺ ࢻ ࡢ㛤 Ⓨ ᰘ⏣ ⍞✑ *1 R o b o t i c H a n d w i t h F l e x i b l e F i n g e r s f o r G r a s p i n g C y l i n d r i c a l O b j e c t s 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ࡌࡣ ㏆ᖺ㸪✀⏘ࡢࠎᴗ࠸࠾ࢸࢫࢩࢺ సᴗ⮬ࡢࡀ㐍࠸㸬ࡇ ࢫࢩࢺࢸࡢᐇ⌧㸪సᴗࡢຠ⋡ࡅࡔࡃ࡞Ᏻᛶ ࡢࡀぢ㎸㸬ᮏ◊✲ࡣ㸪⟄≧≀యᢕᣢ ᦙ㏦ࡍࡓࡢࢺࢻ㛤Ⓨࡍ㸬 ࢺ✲◊ࡢࢻศ㔝ࡣከᒱࡓ㸬ே㛫ࡢᶵ⬟ᶍ ࡍࡇ┠ⓗࡓࡋࡢࢻ㛤Ⓨ (1) 㸪ᰂ㌾ᣦ᭷ࡍ ࢻ⨨Ỵၥ㢟ࡢᏳᐃᛶ㛵ࡍ◊✲ (2) 㸪 ࢻᢕᥱసᴗࡢᐇ⌧ (3) ࡞ࡀ✲◊ࡢάⓎ⾜ ࠸㸬ࡋࡀ࡞ࡋ㸪ᐇ㝿⌧⏘⏕ࡢሙࡣసᴗ ☜ᐇᐇ⌧ࡍ࠺࠸ほⅬ㸪ᑐ㇟࡞≀య ࡏ㸪ᑓ⏝タィࡉࡓࢺࢻ⏝ࡍ ࡇࡀከ࠸㸬┿✵྾╔ࢻ㸪㟁☢ࢢࢺ ࢻ࡞㸪ᵝ࡞ࠎࢻࢱࢡ᭷ࡍ ࢫࢩࢺࢸࡀά⏝ࡉ࠸ (4) 㸬༢⣧ᢕᣢࡍࡇࡅࡔ ᐇ⌧ࡍࢺࢻࡣ㸪⏤⮬ࡢࢻᗘ 1 ࡍࡀࡢከ࠸㸬ࡋࡀ࡞ࡋ㸪ࡢࡑᑐ㇟≀య⎔ቃ ᛂࡌ⮬⏤ᗘ⏝ࡍᚲせ࠶ࡀ㸬ᕸᆅ ࠺ࢺ ࢻ(5) ࡣ㸪ࢫࡢඛ➃ 4 ⮬⏤ ᗘࢻᦚ㍕ࡍࡇ㸪సᴗᐇ⌧ࡋ࠸㸬 ᮏ◊✲ࡣ㸪⟄≧≀యᦙ㏦ࡍࡓࡢ ࢺࢻ〇సࡍ㸬ᮏ◊✲ࡣ㸪┤ᚄ 3mm㸪㛗 ࡉ42mm ࡢ⟄≧≀యᡤᐃࡢ⨨ᦙ㏦ࡍࢺ ࢻ〇సࡍ㸬ᅗ 1 ᑐ㇟࡞ᰕᙧ≧♧ࡍ㸬ᮏ ሗ࿌ࡣ㸪ᑐ㇟≀యᦙ㏦ࡓࡢࡢసᴗᡭ㡰㆟ㄽࡍ㸬 ᅗ 2 ᑐ㇟࡞ᐇ㦂⎔ቃ♧ࡍ㸬ᅗ♧ࡍ࠺ᑐ ᅗ 1㸬⟄≧≀య ᅗ 2㸬ᐇ㦂⎔ቃ ཎ✏ 2015 ᖺ 5 ᭶ 7 ᪥ * 1 ㏆␥ᏛᕤᏛ㒊 ࢸࢫࢡᏛ⛉ ㅮᖌ㸪ḟୡ௦ᇶ┙ᢏ⾡◊✲ᡤ ㅮᖌ㸦739-2116 ᮾᗈᓥᕷ㧗ᒇ࠺ࡢ㎶ 1 ␒㸧 E-mail [email protected] -67 - 近畿大学次世代基盤技術研究所報告 Vol. 6(2015)67-71