Effect of particle size on the suction mechanism in granular grippers

Santarossa A, D'Angelo O, Sack A, Pöschel T (2023)

Publication Type: Journal article

Publication year: 2023


Book Volume: 25

Article Number: 16

Journal Issue: 1

DOI: 10.1007/s10035-022-01306-7


Abstract: Granular grippers are highly adaptable end-effectors that exploit the reversible jamming transition of granular materials to hold and manipulate objects. Their holding force comes from the combination of three mechanisms: frictional forces, geometrical constraints, and suction effects. In this work, we experimentally study the effect of particle size on the suction mechanism. Through X-ray computed tomography, we show that small particles (average diameter d≈120μm) achieve higher conformation around the object than larger particles (d≈4mm), thus allowing the formation of air-tight seals. When the gripper is pulled off, mimicking lifting of an object, vacuum pressure is generated in the sealed cavity at the interface gripper–object. If the particles used as filling material are too large, the gripper does not conform closely around the object, leaving gaps between the gripper’s membrane and the object. These gaps prevent the formation of sealed vacuum cavities between the object and the gripper and in turn hinder the suction mechanism from operating. Graphical abstract: [Figure not available: see fulltext.]

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Santarossa, A., D'Angelo, O., Sack, A., & Pöschel, T. (2023). Effect of particle size on the suction mechanism in granular grippers. Granular Matter, 25(1). https://dx.doi.org/10.1007/s10035-022-01306-7


Santarossa, Angel, et al. "Effect of particle size on the suction mechanism in granular grippers." Granular Matter 25.1 (2023).

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