Minimization of Actuator’s Driving Force of Chuck-type Hand with Three Parallel Stick Fingers through Grasp Optimization

摘要

For realizing a versatile, flexible robotic assembly system in manufacturing, development of a versatile robotic hand with minimally necessary mechanism has been expected. As a simple hand for this demand, we are currently aiming at developing a chuck-type hand with three parallel stick fingers which can achieve a target assembly task. Toward the optimal design of the hand, it is necessary to know the required driving force of an actuator to be used. This paper presents a method to compute the magnitude of the minimally necessary driving force of the actuator for the hand through grasp optimization.