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Chopstick-type gripper mechanism for meal-assistance robot capable of adapting to size and elasticity of foods
Tokyo Institute of Technology, Tokyo, Japan.
Tokyo Institute of Technology, Tokyo, Japan.
Tokyo Institute of Technology, Tokyo, Japan.
Karlstad University, Faculty of Health, Science and Technology (starting 2013), Department of Engineering and Physics (from 2013).ORCID iD: 0000-0002-6865-7346
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2019 (English)In: Mechanisms and Machine Science, ISSN 2211-0984, E-ISSN 2211-0992, Vol. 66, p. 284-292Article in journal (Refereed) Published
Abstract [en]

This paper proposed a chopstick-type gripper for a meal-assistance robot, which is capable of adapting its shape and the contact force with the target food according to the size and the elasticity of the food. Solely using position control of the driving motor for the mechanism, this feature was enabled without relying on force sensors. The gripper was designed based on the concept of under-actuation and a planar mechanism with 2 DOF composed of a combination of 2 four-bar mechanisms having a torsion spring in a passive joint. To clarify the gripping motion and relationship among the contact force, food’s size and elasticity, a simulation based on kineto-elasto-static analysis was performed. Finally, to verify the theoretical analysis, a simple prototype was manufactured and an experiment to measure the contact force has been conducted.

Place, publisher, year, edition, pages
Springer Netherlands , 2019. Vol. 66, p. 284-292
Keywords [en]
Chopstick-type gripper, Kineto-elasto-static analysis, Meal-assistance robot, Mechanism design, Under-actuated mechanism, Elasticity, Grippers, Machine design, Position control, Static analysis, Contact forces, Four-bar mechanisms, Meal-assistance robots, Planar mechanism, Torsion Springs, Under-actuation, Mechanisms
National Category
Robotics
Identifiers
URN: urn:nbn:se:kau:diva-69362DOI: 10.1007/978-3-030-00365-4_34ISI: 000460585000034Scopus ID: 2-s2.0-85052799107OAI: oai:DiVA.org:kau-69362DiVA, id: diva2:1250113
Available from: 2018-09-21 Created: 2018-09-21 Last updated: 2019-04-05Bibliographically approved

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Solis, Jorge

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