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Jamming Gripper-Inspired Soft Jig for Perceptive Parts Fixing
http://hdl.handle.net/10061/0002000488
http://hdl.handle.net/10061/00020004887c1924a4-4fcb-45d5-abf1-20a6e6a22075
| アイテムタイプ | 学術雑誌論文 / Journal Article(1) | |||||||||||
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| 公開日 | 2024-06-26 | |||||||||||
| タイトル | ||||||||||||
| タイトル | Jamming Gripper-Inspired Soft Jig for Perceptive Parts Fixing | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | Flexible manufacturing systems | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | robotic assembly | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | soft robotics | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | vision sensors | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ | journal article | |||||||||||
| アクセス権 | ||||||||||||
| アクセス権 | open access | |||||||||||
| 著者 |
Sakuma, Tatsuya
× Sakuma, Tatsuya
× Kiyokawa, Takuya
× 松原, 崇充× Takamatsu, Jun
× 和田, 隆広× 小笠原, 司 |
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| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | To achieve precise and time-efficient operation to ensure stable and reliable product assembly, custom-made jigs have been developed for each assembly part. However, designing these jigs is a time-consuming task. Therefore, this study proposes a jamming gripper-inspired flexible jig using a soft membrane consisting of transparent beads and oil with an adjusted refractive index. The proposed jig is equipped with a hydraulic drive system with visual control of the amount of transparent oil inside the jig. The proposed system enables parts fixing by creating a jammed state while maintaining optical transparency, thereby facilitating the visual sensing of the jig’s membrane from camera sensors embedded in the jig. Furthermore, a sensing method was developed to perform a precise assembly without external sensors to estimate the pose of an object based on the proposed point-to-function iterative closest point. The results show that the proposed system successfully estimates the orientation at a root mean square error of less than ang 4 when the position is varied from 0mm to 20mm and the angle is varied from ang 0 to ang 20. Furthermore, it can repeatedly fix the object in any orientation from ang 0 to ang 20 at a position of less than 0.5mm and an angle of less than ang 1.1. | |||||||||||
| 書誌情報 |
en : IEEE Access 巻 11, p. 62187-62199, 発行日 2023-06-13 |
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| 出版者 | ||||||||||||
| 出版者 | IEEE | |||||||||||
| ISSN | ||||||||||||
| 収録物識別子タイプ | EISSN | |||||||||||
| 収録物識別子 | 2169-3536 | |||||||||||
| 出版者版DOI | ||||||||||||
| 関連タイプ | isReplacedBy | |||||||||||
| 識別子タイプ | DOI | |||||||||||
| 関連識別子 | https://doi.org/10.1109/ACCESS.2023.3285810 | |||||||||||
| 出版者版URI | ||||||||||||
| 関連タイプ | isReplacedBy | |||||||||||
| 識別子タイプ | URI | |||||||||||
| 関連識別子 | https://ieeexplore.ieee.org/document/10149324 | |||||||||||
| 権利 | ||||||||||||
| 権利情報Resource | https://creativecommons.org/licenses/by/4.0/ | |||||||||||
| 権利情報 | IEEE is not the copyright holder of this material. This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/ | |||||||||||
| 著者版フラグ | ||||||||||||
| 出版タイプ | NA | |||||||||||
