The world experiences disasters caused by natural and industrial accidents. Various products have been developed and applied for manpower rescue and risk removal at disaster sites. However, in order to move debris and other obstacles generated after cutting and destroying operations to remove hazards at a disaster site, a mechanical device that can safely grasp various target objects is required. In this study, we developed a gripper that can be attached to a cutting machine typically used at disaster sites. The gripper proposed in this study can be attached and detached to the hydraulic cutter, and can stably hold a 100 kg object using the force generated from the hydraulic motor. In addition, a mechanism that can safely grip target objects regardless of shape has been applied. The gripper proposed in this study was verified through mathematical analysis and MFBD simulation. Finally, the gripper was actually manufactured and grip tested successfully.

世界经历着由自然和工业事故造成的灾难。已经开发并应用了多种产品，用于灾害现场的人力救援和风险消除。然而，为了移动切割和破坏操作后产生的碎片和其他障碍物，以消除灾害现场的危害，需要一种能够安全抓取各种目标物体的机械装置。在这项研究中，我们开发了一种夹具，可以连接到通常在灾难现场使用的切割机上。本研究中提出的夹具可以连接和拆卸到液压刀具上，并且可以使用液压马达产生的力稳定地夹持 100 kg 物体。此外，还应用了一种无论形状如何都可以安全抓握目标物体的机制。本研究中提出的夹具通过数学分析和 MFBD 模拟得到验证。最后，夹具实际制造并成功进行了夹具测试。