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

Götz H, Santarossa A, Sack A, Pöschel T, Müller P (2022)

Publication Type: Journal article

Publication year: 2022

Journal

Granular Matter Springer Verlag (Germany)

Book Volume: 24

Article Number: 31

Journal Issue: 1

DOI: 10.1007/s10035-021-01193-4

Abstract

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.

Authors with CRIS profile

Holger Götz Lehrstuhl für Multiscale Simulation of Particulate Systems (MSS) Angel Santarossa Lehrstuhl für Multiscale Simulation of Particulate Systems (MSS) Achim Sack Lehrstuhl für Multiscale Simulation of Particulate Systems (MSS) Thorsten Pöschel Lehrstuhl für Multiscale Simulation of Particulate Systems (MSS) Patric Müller Lehrstuhl für Multiscale Simulation of Particulate Systems (MSS)

How to cite

APA:

Götz, H., Santarossa, A., Sack, A., Pöschel, T., & Müller, P. (2022). Soft particles reinforce robotic grippers: robotic grippers based on granular jamming of soft particles. Granular Matter, 24(1). https://doi.org/10.1007/s10035-021-01193-4

MLA:

Götz, Holger, et al. "Soft particles reinforce robotic grippers: robotic grippers based on granular jamming of soft particles." Granular Matter 24.1 (2022).

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