Experimental analysis of the holding-force of the jamming grippers

Alsakarneh, Amjad; Alnaqbi, Sulaiman; Alkaabi, Mariam; Alnaqbi, Rehab; Alnaqbi, Mohamed A.; Alkaabi, Abdulla; Tabaza, Taha A.

doi:10.1109/icaset.2018.8376880

Cited by 5 publications

(5 citation statements)

References 8 publications

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“…Size, material type, filling ratio as well as less frequently investigated parameters such as shape, roughness or elasticity are therefore identified as possible influences of granulate material. Previous studies suggested no major interrelations between the influencing parameters of the gripper configuration [25]. This should also be analyzed for the examined gripper.…”

Section: Previous Research Regarding the Variation Of Granulatesmentioning

confidence: 96%

“…The variation of the granulate size is often combined with the material type, such as for sawdust and coffee [25], where the inherent material properties were described as 'small and big'. The fill level or filling ratio is often presented as another important factor [10], with researchers such as Fujita et al [26] recommending 50% of the possible volume for an ideal gripping force.…”

Section: Previous Research Regarding the Variation Of Granulatesmentioning

confidence: 99%

“…The fill level or filling ratio is often presented as another important factor [10], with researchers such as Fujita et al [26] recommending 50% of the possible volume for an ideal gripping force. In some cases, further granulate parameters were examined, such as the water contents in sawdust [25] or the influences of granulate surface roughness [24] on the possible gripping forces. Most researchers utilized easily available or purchasable granulate materials and sizes with some examples of additive manufacturing [28].…”

Section: Previous Research Regarding the Variation Of Granulatesmentioning

confidence: 99%

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Experimental assessment and prediction of design parameter influences on vacuum-based granular grippers

Wacker

Dierks

Kwade

et al. 2023

Preprint

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Innovative soft robotic grippers, such as granular grippers, enable the automated handling of a wide spectrum of different geometries, increasing the flexibility and robustness of industrial production systems. Granular grippers vary in their design as well as the configuration, which affects the specific characteristics and capabilities regarding grippable objects. Relevant aspects are the selection of granulates and membranes, as they affect the deformability. This results in influences on the achievable gripping forces, which vary with the gripped objects geometry. The present research investigates the influences of different configurations on the achievable gripping forces for an innovative vacuum-based granular gripper concept. Specifically, the focus lies on design as well as configuration parameters, which could influence the achievable gripping force. Influencing parameters are determined based on a literature review of similar gripping concepts. Various adjustment possibilities are identified, such as materials of granulates or membranes. The possible configuration options are experimentally analyzed with a one-factor-at-a-time approach. The possibility of modelling their interrelations is examined with approaches for linear models and compared to interpolations based on Machine Learning. Especially the granulate filling level and the membrane configuration exhibit the largest influences, which were best predicted with the approach based on artificial neural networks. A selection of an optimized gripper configuration for a specified object set as well as possible further developments such as a continuous expandability of the approaches and integrations with simulations are discussed. As a result of these analyses, this research provides methodologies for an optimized selection of a gripper configuration for an improved object-specific achievable gripping force and allows for more efficient handling processes with the examined type of vacuum-based granular gripper.

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Section: Previous Research Regarding the Variation Of Granulatesmentioning

confidence: 96%

Section: Previous Research Regarding the Variation Of Granulatesmentioning

confidence: 99%

Section: Previous Research Regarding the Variation Of Granulatesmentioning

confidence: 99%

See 1 more Smart Citation

Experimental assessment and prediction of design parameter influences on vacuum-based granular grippers

Wacker

Dierks

Kwade

et al. 2023

Preprint

View full text Add to dashboard Cite

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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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“…It has obvious advantages when grasping soft, fragile, or irregular objects. Structural deformation of flexible materials can be achieved in various ways, such as vacuuming the filling bag using the particle blocking principle [11,12], changing the temperature to induce deformation of the shape memory material [13,14], and inflating and deflating the elastic chamber [15,16]. However, these flexible ends are limited to certain scenarios.…”

Section: Introductionmentioning

confidence: 99%

Research on the Bionic Flexible End-Effector Based on Tomato Harvesting

Guo

Zheng

et al. 2022

Journal of Sensors

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Aiming at the problems that tomatoes are fragile and the traditional end-effector design is not suitable for tomato picking, a combination of the bionic principle of FRE structure and finger design was proposed. Based on the physical properties of tomatoes, a flexible underactuated end-effector for tomato picking and sorting was designed. The optimal structural parameters of fingers were determined by finite element analysis, and the tomato grasping experiment was carried out. The results show that the flexible end can grasp and transport tomatoes with diameters ranging from 65 to 95 mm without damage, which can withstand 7 N tensile force, the load is more than 2 times of its own weight, the tomato coverage rate is greater than 23.6%, and the effective grab rate is 100% and has the advantages of the strong stability, universality, and protection. The research provides a novel solution for the design and application of the tomato picking and sorting robot end-effector.

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Experimental analysis of the holding-force of the jamming grippers

Cited by 5 publications

References 8 publications

Experimental assessment and prediction of design parameter influences on vacuum-based granular grippers

Experimental assessment and prediction of design parameter influences on vacuum-based granular grippers

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

Research on the Bionic Flexible End-Effector Based on Tomato Harvesting

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