[ English / Japanese ]
This work discusses the capturing robot with the maximum acceleration of 100G in design specification. We find the combination of the arm with the mass of 0.1kg and the spring capable of producing the initial compressed force of 100N, so that we can achieve the 100G.
In order to reduce the total capturing time, we newly propose the Arm/Gripper Coupling Mechanism (AGCM) where the spring energy initially accumulated in the arm is transferred to the kinetic energy of the arm and continuously to the kinetic energy for closing the gripper at the capturing point without any time lag.
The experimental results show the maximum acceleration of 91G and the capturing time of 25ms. Experiments on capturing a dropping ball are also executed with the assistance of the 1ms-vison.
Then we explore the design of 100G capturing robot from the viewpoint of dynamic preshaping where all finger links make contact with the target object simultaneously. We mathematically formulate the Dynamic Preshaping Problem (DPP) 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 DPP.
The 100G Capturing Robot
[ Abstract ]
Then we explore the design of 100G capturing robot from the viewpoint of dynamic preshaping where all finger links make contact with the target object simultaneously. We mathematically formulate the Dynamic Preshaping Problem (DPP) 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 DPP.
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MPEG Movie(1.6M) The 100G capturing robot captures a dropping ball. |
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MPEG Movie(1.6M) Slow motion. |
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MPEG Movie(1.7M) Experimets with the assistance of high-speed arm and high-speed vision. |
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MPEG Movie(1.7M) Dynamic Preshaping. |
REFERENCES
- M. Kaneko, M. Higashimori, R. Takenaka, A. Namiki, and M. Ishikawa: The 100G Capturing Robot -Too Fast to See-, IEEE/ASME Trans. on Mechatronics, vol.8, no.1, pp.37-44, 2003.
- M. Higashimori, M. Kaneko, A. Namiki, and M. Ishikawa: Design of the 100G Capturing Robot Based on Dynamic Preshaping, The International Journal of Robotics Research, vol.24, no.9, pp.743-753, Sept. 2005.
