ヤマザキ　ヨシアキ   Yoshiaki Yamazaki   山崎　芳昭    所属   理工学部 総合理工学科    データサイエンス学環    職種   教授
言語種別	英語
発行・発表の年月	2025/08
形態種別	学術雑誌
査読	査読あり
標題	2025Evaluation of Gripping Force and Holding Torque of a 5-node Parallel Link Type Gripper with Constrained Spring Links
執筆形態	共著
掲載誌名	Proceedings of The 6th International Conference on Design Engineering and Science ICDES 2025
掲載区分	国外
出版社・発行元	Japan Society for Design Engineering
巻・号・頁	ISBN 978-4-9905565-6-3,pp.218-225
担当区分	最終著者,責任著者
著者・共著者	Jehun SEO, Rion SUNAOSHI and Yoshiaki YAMAZAKI
概要	jpAbstractIn the event of an earthquake or other disaster, it is essential to operate valves of pressure equipment in plants that are inaccessible to humans. In this study, a gripper for a 6-DOF manipulator mounted on a rescue robot was investigated. First, we introduced the 1-link simple type and 4-node parallel link type grippers that we have been using. Next, we proposed a new 5-link parallel link type gripper with constrained spring links that can grasp round bars and other objects. We showed that this 5-node parallel link type gripper cannot hold the shape without the restraining spring links, and that the presence of the restraining spring links enables the gripper to perform the same gripping motion as an ordinary hand. Finally, the gripping force, gripping torque, and friction coefficient were measured using a force sensor and a torque sensor. The results showed that the proposed 5-node parallel link type gripper has the necessary torque for valve operation. Finally, seven kinds of rubber sponge materials for the fingertip were experimentally verified, and the optimal material was selected. The five-node parallel link type gripper with constrained spring links proposed in this study was confirmed to be an effective gripper for valve operation of pressure equipment.