Developed by Panasonic and Kanazawa University, the deformed gripper is interesting [with video] | New Switch by Nikkan Kogyo Shimbun

A research group led by Professor Tetsuyo Watanabe of Kanazawa University has developed a deformed gripper with two gripping modes in collaboration with Panasonic. When pinched, it becomes a parallel grip, and when the hand is pressed against the table, it becomes the shape of a finger for flipping grip. Deformation is realized with a simple link mechanism. You can grab an object that is 0.05 mm thin and weighs 7 mm without playing it. We propose it for handling such as plastic sheets, paper, washers, etc. that cannot be grasped only by parallel grippers.

When I try to grab a thin plastic sheet with a parallel gripper, it bends, bounces and flies. Therefore, make sure that the two fingers are at an angle of 30 degrees from the table surface. One finger scoops up and the other finger works to hold the target.

This deformation was realized simply by pressing it against the table. The fingers to be scooped up are bent by a torsion spring type passive joint. The finger to be pressed bends parallel to the rake finger with a 6-link mechanism. I stuck a non-slip silicone on my finger. By scooping and pressing, the gripping object is prevented from bending and jumping like a spring.

You can use the two fingers as a parallel gripper if you don't press them against the table. I was able to grasp nuts, bolts, thick washers, etc. On the other hand, paper, vinyl sheets, spring washers, etc. that cannot be grasped by parallel gripping were gripped by flipping.

Normally, it is gripped in parallel, but it can be handled even if the part collapses and cannot be gripped by parallel gripping. It is also suitable for the serving process of arranging a wide variety of parts on trays. There is no need to replace the hand according to the product, and it is highly reliable because it is realized by the mechanism.

Nikkan Kogyo Shimbun June 21, 2021