A Development of Functional End-Effector

Recently, various types of robot hand have been researched and developed. Most of them are multiple finger types that have multiple joints. However, each mechanism of them is complex, and usually enough grip power can not be formed. It seems that the most important objective of them is to make human-like hands. However, sometimes, it is reasonable that robot hands should have functional mechanisms instead of human-like fingers. In this research, we developed an functional end-effector (hand) that has more practical use. It has two parallel fingers that has a large grasping power. It includes a functional mechanism of vision sensor and belt conveyers, which are not in human hand. Experiments verified each function, such as the grasping mechanism, the vision sensor's mechanism and the belt conveyer mechanism.