The 100 G capturing robot - Too fast to see

This paper discusses the capturing robot with the maximum acceleration of 100 G in design specification. We find the combination of the arm with the mass of 0.1 kg and the spring capable of producing the initial compressed force of 100 N, so that we can achieve the 100 G. In order to reduce the total capturing time, we newly propose the arm/gripper coupling mechanism (AGCM) 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. Experiments on capturing a dropping ball are also executed with the assistance of the I ms-vison.