PAPER HANDLING ROBOT USING PNEUMATIC ACTUATORS

摘要

This study is an attempt to realize a versatile robot hand that can treat a sheet of paper as example of object that is hard to grasping. For versatile hand, it is desirable that the fingers of hand have no special mechanism to separate and grasp the paper, such as human, and the grasped paper must not be damaged. In order to realize human-like soft action to separate and grasp a paper without damage, the robot hand actuated by pneumatic cylinders is proposed in this report. As a first step of realizing a automatically handling of paper craft, for example, wrapping work etc., the method of separating a paper by using robot hand which have no special mechanism for separating is presented. The proposed robot hand consists of three fingers and a pair of them is used to separate a paper from stack. To separate the top of paper in stack, the pair softly touches a surface of paper and slides it.The separated paper is grasped by another pair of fingers, in this report. All the fingers need not special structure, therefore, this grasping method is suitable for the versatile hand of various purpose, although experimental tests are terminated when the grasping is done.