Related papers: Shape, Size, and Fabrication Effects in 3D Printed…
We test grip strength and shock absorption properties of various granular material in granular jamming robotic components. The granular material comprises a range of natural, manufactured, and 3D printed material encompassing a wide range…
The application of granular jamming in soft robotics is a recent and promising new technology offer exciting possibilities for creating higher performance robotic devices. Granular jamming is achieved via the application of a vacuum…
Soft grippers have excellent adaptability for a variety of objects and tasks. Jamming-based variable stiffness materials can further increase soft grippers' gripping force and capacity. Previous universal grippers enabled by granular…
Granular jamming is a popular soft robotics technology that has seen recent widespread applications including industrial gripping, surgical robotics and haptics. However, to date the field has not fully exploited the fundamental science of…
Granular jamming has recently become popular in soft robotics with widespread applications including industrial gripping, surgical robotics and haptics. Previous work has investigated the use of various techniques that exploit the nature of…
Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shape and surface properties remains, however, challenging. Most current…
Very soft grain assemblies have unique shape-changing capabilities that allow them to be compressed far beyond the rigid jammed state by filling void spaces more effectively. However, accurately following the formation of these systems by…
Granular systems are not always homogeneous and can be composed of grains with very different mechanical properties. To improve our understanding of the behavior of real granular systems, in this experimental study, we compress 2D…
We investigate the influence of particle stiffness on the grasping performance of granular grippers, a class of soft robotic effectors that utilize granular jamming for object manipulation. Through experimental analyses and X-ray imaging,…
Granular grippers are highly adaptable end-effectors that exploit the reversible jamming transition of granular materials to hold and manipulate objects. Their holding force comes from the combination of three mechanisms: frictional forces,…
Grasping is an essential capability for most robots in practical applications. Soft robotic grippers are considered as a critical part of robotic grasping and have attracted considerable attention in terms of the advantages of the high…
Granular grippers can manipulate a wide variety of objects, but need to be pressed on the object to conform to it. If the object is placed on unstable ground, e.g., on sand or water, this step might cause the object to sink or move away…
We performed a series of numerical vertical compression tests on assemblies of 2D granular material using a Discrete Element code and studied the results with regard to the grain shape. The samples consist of 5,000 grains made from either 3…
Granular jamming has been identified as a fundamental mechanism for the operation of robotic grippers. In this work, we show, that soft particles like expanded polystyrene beads lead to significantly larger gripping forces in comparison to…
Granular media near jamming exhibit fascinating properties, which can be harnessed to create jammed-granulate metamaterials: materials whose characteristics arise not only from the shape and material properties of the particles at the…
Grippers can be attached to objects in a rigid mode, and they are therefore used in various applications, for example granular jamming gripper. This paper introduces a cutting-edge radial layer jamming mechanism with is tunable stiffness,…
The 3D shape of a robot's end-effector plays a critical role in determining it's functionality and overall performance. Many industrial applications rely on task-specific gripper designs to ensure the system's robustness and accuracy.…
Fruit harvesting has recently experienced a shift towards soft grippers that possess compliance, adaptability, and delicacy. In this context, pneumatic grippers are popular, due to provision of high deformability and compliance, however…
We investigate the full phase diagram of a column of grains near jamming, as a function of varying levels of frustration. Frustration is modelled by the effect of two opposing fields on a grain, due respectively to grains above and below…
Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for…