To design a general-purpose assembly robot system that can handle objects of various shapes, we propose a soft jig capable of deforming according to the shape of assembly parts. The soft jig is based on a jamming gripper used for robot manipulation as a general-purpose robotic gripper developed in the field of soft robotics. The soft jig has a flexible membrane made of silicone, which has a high friction, elongation, and contraction rate for keeping parts strictly fixed. The inside of the membrane is filled with glass beads to achieve a jamming transition. The usability of the soft jig was evaluated from the viewpoint of the versatility and fixing performance for various shapes and postures of parts in assembly operations.
To design a general-purpose assembly robot system that can handle objects of various shapes, we propose a soft jig capable of deforming according to the shape of assembly parts. The soft jig is based on a jamming gripper used for robot manipulation as a general-purpose robotic gripper developed in the field of soft robotics. The soft jig has a flexible membrane made of silicone, which has a high friction, elongation, and contraction rate for keeping parts fixed. The inside of the membrane is filled with glass beads to achieve a jamming transition. The usability of the soft jig was evaluated from the viewpoint of the versatility and fixing performance for various shapes and postures of parts in assembly operations.
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strictly