Title:
GRIPPING DEVICE
Document Type and Number:
Japanese Patent JP2019150898
Kind Code:
A
Abstract:
To achieve gripping force corresponding to attribute information of an object.SOLUTION: A gripping device 1 comprises a gripping part 14, a determining part 11 and a driving part 13. The gripping part 14 includes a plurality of finger parts 141 and 142, which grips an object 100 using the plurality of fingers 141 and 142. The determining part 11 determines multiplier of gripping force, a ratio of magnitude of gripping force of the gripping part 14 relative to current values of driving currents Iu, Iv and Iw on the basis of attribute information on the object 100. The driving part 13 drives the gripping part 14 so that the gripping part 14 exerts gripping force determined based on the driving currents Iu, Iv and Iw and the multiplier of gripping force determined by the determining part 11. The determining part 11 makes the multiplier of gripping force in a second state where the gripping part 14 is already made to grip the object 100 larger than the multiplier of gripping force in a first state where the gripping part 14 is not yet made to grip the object 100.SELECTED DRAWING: Figure 1
Inventors:
ASADA KAZUHIKO
TAGOME MASAKI
KISHIMOTO HIROAKI
TAGOME MASAKI
KISHIMOTO HIROAKI
Application Number:
JP2018035935A
Publication Date:
September 12, 2019
Filing Date:
February 28, 2018
Export Citation:
Assignee:
PANASONIC IP MAN CORP
International Classes:
B25J13/00; B25J15/08; H02P6/16
Attorney, Agent or Firm:
Patent business corporation Hokuto patent office