Investigation of Fluidic Universal Gripper for Delicate Object Manipulation

Autor: Changchun Wu, Hao Liu, Senyuan Lin, Yunquan Li, Yonghua Chen
Jazyk: angličtina
Rok vydání: 2023
Předmět:
Zdroj: Biomimetics, Vol 8, Iss 2, p 209 (2023)
Druh dokumentu: article
ISSN: 2313-7673
DOI: 10.3390/biomimetics8020209
Popis: The compliance of conventional granular jamming universal grippers is limited due to the increasing friction among particles when enveloping an object. This property limits the applications of such grippers. In this paper, we propose a fluidic-based approach for universal gripper which has a much higher compliance compared to conventional granular jamming universal grippers. The fluid is made of micro-particles suspended in liquid. Jamming transition of the dense granular suspension fluid from a fluid (hydrodynamic interactions) to solid-like state (frictional contacts) in the gripper is achieved by external pressure from the inflation of an airbag. The basic jamming mechanism and theoretical analysis of the proposed fluid is investigated, and a prototype universal gripper based on the fluid is developed. The proposed universal gripper exhibits advantageous compliance and grasping robustness in sample grasping of delicate objects, such as plants and sponge objects, where the traditional granular jamming universal gripper fails.
Databáze: Directory of Open Access Journals
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