Soft-Jig-Driven Assembly Operations
Takuya Kiyokawa Tatsuya Sakuma Jun Takamatsu Tsukasa Ogasawara Takuya Kiyokawa Tatsuya Sakuma Jun Takamatsu Tsukasa Ogasawara
To design a general-purpose assembly robot system that can handle objects of various shapes, we propose a soft jig that fits to the shapes of assembly parts. The functionality of the soft jig is based on a jamming gripper developed in the field of soft robotics. The soft jig has a bag covered with a malleable silicone membrane, which has high friction, elongation, and contraction rates for keeping...