Soft particles reinforce robotic grippers: robotic grippers based on granular jamming of soft particles

被引：19

作者：

Goetz, Holger ^{[1
]}

Santarossa, Angel ^{[1
]}

Sack, Achim ^{[1
]}

Poeschel, Thorsten ^{[1
]}

Mueller, Patric ^{[1
]}

机构：

[1] Friedrich Alexander Univ Erlangen Nurnberg, Inst Multiscale Simulat, Cauerstr 3, D-91058 Erlangen, Germany

来源：

GRANULAR MATTER | 2022年 / 24卷 / 01期

关键词：

Granular gripper; Granular jamming; Soft robotics; MODELS; DENSE; FLOW;

D O I：

10.1007/s10035-021-01193-4

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

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 rigid particles. In contradiction to naive expectation, the combination of jamming and elasticity gives rise to very different properties of the jammed phase, compared to hard-particle systems. This may be of interest also beyond the application in robotic grippers.

引用

页数：9

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