Santarossa A, Pöschel T (2024)
Publication Type: Journal article
Publication year: 2024
Book Volume: 26
Article Number: 105
Journal Issue: 4
DOI: 10.1007/s10035-024-01475-7
We investigate the influence of particle stiffness on the grasping performance of granular grippers, a class of soft robotic effectors that utilize granular jamming for object manipulation. Through experimental analyses and X-ray imaging, we show that grippers with soft particles exhibit improved wrapping of the object after jamming, in contrast to grippers with rigid particles. This results in significantly increased holding force through the interlocking. The addition of a small proportion of rigid particles into a predominantly soft particle mixture maintains the improved wrapping but also significantly increases the maximum holding force. These results suggest a tunable approach to optimizing the design of granular grippers for improved performance in soft robotics applications. Graphic abstract: (Figure presented.)
APA:
Santarossa, A., & Pöschel, T. (2024). Enhanced interlocking in granular jamming grippers through hard and soft particle mixtures. Granular Matter, 26(4). https://doi.org/10.1007/s10035-024-01475-7
MLA:
Santarossa, Angel, and Thorsten Pöschel. "Enhanced interlocking in granular jamming grippers through hard and soft particle mixtures." Granular Matter 26.4 (2024).
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