Title:
HOLDING DEVICE, HOLDING MECHANISM, HOLDING METHOD, AND ROBOT DEVICE
Document Type and Number:
Japanese Patent JP2023134079
Kind Code:
A
Abstract:
To provide a holding mechanism which can change an attitude of an object to be held in a smaller operation region, and to provide a holding device, a holding robot, and a holding method.SOLUTION: A peristaltic mechanism 120 holds an object M through peristaltic motion comprising contraction motion and loosening motion and a holding mechanism 110 contacts with the object M between the peristaltic mechanism 120 and the object M. In the holding mechanism 110, a first contact surface 114 contacts with the object M when the peristaltic mechanism 120 causes the contraction motion and a second contact surface 115 having a friction coefficient different from that of the first contact surface 114 contacts with the object M when the peristaltic mechanism 120 causes the loosening motion.SELECTED DRAWING: Figure 1
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Inventors:
UMEDATE TAKUYA
ONODERA TOMOYA
ONODERA TOMOYA
Application Number:
JP2022039424A
Publication Date:
September 27, 2023
Filing Date:
March 14, 2022
Export Citation:
Assignee:
UNIV SHINSHU
International Classes:
B25J15/08
Attorney, Agent or Firm:
Keisuke Komatsu