Granular jamming based robotic gripper for heavy objects

Miettinen, Jesse; Frilund, P; Vuorinen, I; Kuosmanen, Petri; Kiviluoma, Panu

doi:10.3176/proc.2019.4.12

Cited by 14 publications

(10 citation statements)

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“…GJ is an effective method for grasping solid objects with different shapes. [5,14,15] However, the grasping of deformable and flat objects can be challenging and is never discussed in the literature for GJ-based grippers. Here we show that the combined use of GJ and EA enables successful pick and place of such objects (Figure 6 and Video S1, Supporting Information).…”

Section: Grasping and Manipulation Of Fragile Deformable And Flat Obj...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…GJ enables reversible stiffness change between soft and rigid configurations by means of negative pressure. [5,14,15] High compliance in the soft state allows a GJ gripper to envelope the manipulated object by pressing on it. When negative pressure In recent years, there has been a growing interest in the development of universal soft grippers that can handle objects of varying form factors (including flat objects), surface conditions (including moistened or oily objects), and mechanical properties (deformable and fragile).…”

Section: Introductionmentioning

confidence: 99%

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A Soft Gripper with Granular Jamming and Electroadhesive Properties

Piskarev

Devincenti

Ramachandran

et al. 2023

Advanced Intelligent Systems

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In recent years, there has been a growing interest in the development of universal soft grippers that can handle objects of varying form factors (including flat objects), surface conditions (including moistened or oily objects), and mechanical properties (deformable and fragile). Yet, there is no single gripper that can gently grip objects with such a wide range of properties. Herein, a soft gripper that combines granular jamming (GJ) and electroadhesion (EA) to gently grasp and release a large set of diverse objects is presented. The gripper can operate in GJ mode only, in EA mode only, or in a combination mode that simultaneously activates GJ and EA. In GJ mode, the gripper can grasp objects with different surface properties, lift objects 38 times its own weight using negative pressure, and release objects by applying positive pressure, but has difficulty in handling flat and fragile objects. In EA mode, the gripper can manipulate flat and fragile objects but encounters difficulties with different surface properties such as oily or moisture. In the combination mode, the gripper can generate grasping forces up to 35% higher than in the GJ mode for all object sizes and certain shapes such as a cylinder. An interactive preprint version of the article can be found here: https://doi.org/10.22541/au.166937296.61200374/v1.

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Section: Grasping and Manipulation Of Fragile Deformable And Flat Obj...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Soft Gripper with Granular Jamming and Electroadhesive Properties

Piskarev

Devincenti

Ramachandran

et al. 2023

Advanced Intelligent Systems

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“…When a vacuum is applied to these cushions, the granular material compacts, jams and enables a gripping force to be exerted on different kinds of objects through friction and interlocking with the respective surfaces. For these grippers, influences such as the stiffness of cushion membrane material, the granulate material, the object enclosure and the conditions of the granulate material have been examined [15][16][17][18].…”

Section: State Of the Artmentioning

confidence: 99%

Empirically adapted model for the Handling of Variable Geometries with Vacuum-based Granulate Grippers

Wacker¹,

Dierks²

2022

Preprint

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<p> Current industrial trends show an increasing demand for individualized products, which require highly flexible yet automated production systems. Universal handling systems offer an efficient solution for the flexible and safe handling of differing component geometries and shapes. An innovative gripper for form-flexible handling combining vacuum systems with the flexibility of granulate grippers was established in previous research and has continued to prove its flexibility by gripping wide varieties of object geometries. The current challenge of modelling and predicting gripping forces for this new gripper is addressed in this research. Multiple object geometries are selected and examined, with the parameters affecting the air permeability being the most important influence for the gripping forces. Along with an overview of influencing factors and parameters, a framework for a linear model enabling the prediction of gripping forces for different object shapes is developed. The basis for automated prediction of gripping strengths for different types of objects is established with this research and could be adapted with other, non-analytical models such as machine learning in the future. </p>

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“…Previous work has been performed on modifying the original design to push the grippers capabilities, such as adding positive pressure to counter the inability to grip traditionally difficult objects [15] and exploring force-feedback for a closed loop approach [16]. The exploration of these grippers capabilities have also been applied to different environments including underwater usage [17], and a scaled-up variant used on a crane [18].…”

Section: B Granular Jamming In Soft Robotsmentioning

confidence: 99%

Vibration Improves Performance in Granular Jamming Grippers

Mishra¹,

Philips²,

Delaney³

et al. 2021

Preprint

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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 the jamming phase transition, which has been rigorously studied in the field of statistical and condensed matter physics. This work introduces vibration as a means to improve the properties of granular jamming grippers through vibratory fluidisation and the exploitation of resonant modes within the granular material. We show that vibration in soft jamming grippers can improve holding strength, reduce the downwards force needed for the gripping action, and lead to a simplified setup where the second air pump, generally used for unjamming, could be removed. In a series of studies, we show that frequency and amplitude of the waveforms are key determinants to performance, and that jamming performance is also dependent on temporal properties of the induced waveform. We hope to encourage further study in transitioning fundamental jamming mechanisms into a soft robotics context to improve performance and increase diversity of applications for granular jamming grippers.

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Granular jamming based robotic gripper for heavy objects

Cited by 14 publications

References 0 publications

A Soft Gripper with Granular Jamming and Electroadhesive Properties

A Soft Gripper with Granular Jamming and Electroadhesive Properties

Empirically adapted model for the Handling of Variable Geometries with Vacuum-based Granulate Grippers

Vibration Improves Performance in Granular Jamming Grippers

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