Development of Compliance Hands on Assembly Works (3rd Report: Evaluation on Workability for Compliance Hands)

摘要

The evaluation methods of "Measure of Manipulability" defined by Yoshikawa and "Dexterity Measure for Assembly" proposed by Hara were applied to the peg-in-hole task through the compliance hand with flexible device. These tendencies between the inserting resistance forces for the mentioned tasks and their parameters were conducted to verify the coefficient of correlation through the some kind of compliances of the spring devices.