| 摘要 |
PROBLEM TO BE SOLVED: To make it possible to stably grasp an object in grasping the object by pressing a bag against the object laid on a support plane.SOLUTION: A device 10 for grasping an object 1 comprises a bag 3 that is protean, a powder and granular material introducing unit 5 for introducing powder and granular materials 2 into the bag 3, a suction unit 7 for discharging gases from inside the bag 3, and a robot arm 9 fitted with the bag 3 to press the bag 3 against the object 1. The bag 3 is pressed against the object 1. In this state, the powder and granular materials 2 are introduced into the bag 3. This expands the bag 3 to decrease the gap between the bag 3 and the object 1. Then, only the gases are sucked in from among the powder and granular materials 2 and the gases which are present inside the bag 3 to get the gases out of the bag 3. This increases frictional force among the powder and granular materials 2 inside the bag 3 to allow the shape of the bag 3 to be maintained. |
