Basic Study on Mechanism and Control of Seal-Peeling Robot. Analysis of Seal Peeling Task and Design & Control of Robot.

With the rigid requirements of the automation of the handling of flexible limp seal materials in the industry in mind, this paper deals with a mechanism and control method of a seal-peeling robot. In this paper, we consider the method by which a man peels a seal, and based on this analysis, we make and test a seal-peeling robot. First of all, we analyze a man's seal-peeling task and determine how many and what kinds of basic motions are included in it, and also check how they appear while the task is being carried out. Then we construct a mechanism of the robot based on this analysis. Secondly, we propose a control method for it. We next model the mechanism of glue destruction and analyze how we should control the robot peeling the seal effectively. Finally, we produce a robot based on these analyses and test it to show that it works as expected.