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

Autor:	Götz, Holger, Santarossa, Angel, Sack, Achim, Pöschel, Thorsten, Müller, Patric
Rok vydání:	2021
Předmět:	Condensed Matter - Soft Condensed Matter Condensed Matter - Disordered Systems and Neural Networks
Zdroj:	Granular Matter, Vol. 24:31 (2022)
Druh dokumentu:	Working Paper
DOI:	10.1007/s10035-021-01193-4
Popis:	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. Comment: 9 pages, 10 figures
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2109.03356 Zobrazit plný text záznamu View this record from Arxiv