Volume 24 Issue 9 - Publication Date: 1 September 2005
Special Issue on the 11th International Symposium on Robotics Research
Design of the 100G Capturing Robot Based on Dynamic Preshaping
M. Higashimori, M. Kaneko Graduate School of Engineering, Hiroshima University, Higashi-Hiroshima, Japan, A. Namiki, and M. Ishikawa Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-ku, Tokyo, Japan
In this paper we discuss the design of the 100G capturing robot from the point of view of dynamic pre-shaping where all finger links make contact with the target object simultaneously. After briefly explaining the overview of the 100G capturing robot, we mathematically formulate the dynamic pre-shaping problem where we discuss how to determine the mechanical parameters, such as pulley positions, pulley radius, mass of finger link, and spring constant. We show a couple of experiments where the robot parameter is determined based on the dynamic re-shaping problem.
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