シールをめくるロボットの機構と制御に関する基礎的研究 (シールをめくる作業の分析とロボットの設計および動作実験)

Abstract

With the rigid requirements of the automation of the handling of flexible limp seal materials in the industry in mind, this paper deals with a mechanism and control method of a seal-peeling robot. In this paper, we consider the method by which a man peels a seal, and based on this analysis, we make and test a seal-peeling robot. First of all, we analyze a man's seal-peeling task and determine how many and what kinds of basic motions are included in it, and also check how they appear while the task is being carried out. Then we construct a mechanism of the robot based on this analysis. Secondly, we propose a control method for it. We next model the mechanism of glue destruction and analyze how we should control the robot peeling the seal effectively. Finally, we produce a robot based on these analyses and test it to show that it works as expected. © 1991, The Japan Society of Mechanical Engineers. All rights reserved.