소프트 물질을 위한 그리퍼 평가 방법

Abstract

This paper presents a gripper evaluation method for soft material. Soft materials have different shapes and properties depending on the tissue, food, etc. So, selecting a gripper with soft material is a very complicated procedure and must be considered various factors such as material properties, task complexity, environment, etc. We proposed an evaluation method based on the material and task for selecting suitable grippers which manipulate soft material. The method can simplify existing complex gripper selection methods and reduce the time required to select the gripper. Currently, the feasibility test has been conducted through the score & weight table using 18 samples, and if a lot of data is used, it is expected that it will be used as a gripper evaluation method for soft material.