To provide small robot and holding system which are generally excellent in robustness against position error and attitude error of the robot with respect to holding objects which are different in shape and the size of diameter.SOLUTION: A robot includes: an extendable device telescopic in at least one direction; at least two end effectors which are connected to each of at least two ends of the extendable device; and a control section which is capable of extending/contracting the extendable device. Each of at least two end effectors has at least one holding section expanding and opening outward. The control section extends or contracts the extendable device, thereby allowing the robot to hold an object by at least two end effectors.SELECTED DRAWING: Figure 3
【課題】形状や径の大きさが異なる把持対象に対しても汎用的にロボットの位置誤差や姿勢誤差に対してロバスト性に優れた小型のロボット及び把持システムを提供すること。【解決手段】少なくとも1つの方向に伸縮自在な伸縮デバイスと、前記伸縮デバイスの少なくとも2つの端部にそれぞれ結合された、少なくとも2つのエンドエフェクタと、前記伸縮デバイスを伸縮させることができる制御部とを備え、前記少なくとも2つのエンドエフェクタの各々は、外方に向かって拡開する把持部を少なくとも1つ備え、前記制御部が、前記伸縮デバイスを伸展又は収縮させることによって、前記少なくとも2つのエンドエフェクタにより対象物を把持することができるロボット。【選択図】図3
ROBOT AND HOLDING SYSTEM
ロボット、把持システム
2018-12-20
Patent
Electronic Resource
Japanese
Robot hand for holding object, robot, robot system, and method of holding object
European Patent Office | 2017
|Robot hand, robot, and holding method of holding object to be pinched by robot
European Patent Office | 2015
|Tauro System:The Universal Robot-Holding System With Total Flexibility
Automotive engineering | 1984
|Real-Time Gaze Holding in Binocular Robot Vision
NTIS | 1992
|