- https://doi.org/10.1299/jsmermd.2025.1p1-s03
Posture Compensation in Universal Vacuum Gripper with Tactile Function
- Jan 1, 2025
- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
- Koki Harada +7 more
Abstract
In this study, we propose an attitude compensation for Universal Vacuum Gripper with Tactile function. It consists of conductive powders, a silicon membrane, and 8 electrodes. It enables tactile sensing by reading the resistance change of conductive powder due to load. The pressure distribution is constructed by measuring the impedance change of the conductive powder with 16 pairs of electrodes. Output values vary depending on posture due to conductive powder bias caused by tilt. We investigated the effect of posture on output values and confirmed the usefulness of posture compensation. Pressure characteristics experiments will be conducted from all angles in the future. The goal is to achieve the same output characteristics at any angle.
