An Optimum Design for Handling a Visco-elastic Object Based on Maxwell Model

摘要

This paper discusses a design approach on robotic hand by considering the characteristics of visco-elasticity. “NORIMAKI” is a typical example where it has the visco-elastic characteristics. We first show that the dynamic characteristics of “NORIMAKI” can be expressed by utilizing the Maxwell model with two layers. Based on dynamic parameters obtained by experiments, we make clear the relationship among the total working time, the plastic deformation of food after the operation, the hand stiffness, and the operating velocity of the hand. We newly found an interesting behavior where there exists an optimum set of the design parameters for achieving the minimum plastic deformation.