The 100 G capturing robot - too fast to see

Abstract

This paper discusses the capturing robot with the maximum acceleration of 100 G in design specification. We aim find the combination of the arm with a mass of 0.1 kg and the spring capable of producing the initial compressed force of 100 N, in order to achieve the 100 G. To reduce the total capturing time, we propose an arm/gripper coupling mechanism where the spring energy initially accumulated in the arm is transferred to the kinetic energy of the arm and continuously to the kinetic energy for closing the gripper at the capturing point without any time lag. The experimental results show the maximum acceleration of 91 G and the capturing time of 25 ms were achieved. Experiments on capturing a dropping ball were also executed with the assistance of the 1 ms-vision.