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

Santarossa, Angel; Götz, Holger; Sack, Achim; Pöschel, Thorsten; Müller, Patric

doi:10.1007/s10035-021-01193-4

Cited by 21 publications

(12 citation statements)

References 30 publications

(40 reference statements)

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“…However, it is crucial to address associated energy, efficiency, and safety issues simultaneously. Particle jamming variable stiffness has found wide application, particularly in grippers, employing techniques such as negative-pressure particle jamming [30,36,56,111,134,143,157,159,160,175], positive-pressure particle jamming [86,165], and structured particle jamming [123,128,172].…”

Section: Variable Stiffness Based On Materials Physical Propertiesmentioning

confidence: 99%

Variable stiffness soft robotic gripper: design, development, and prospects

Shan,

Zhao,

Wang

et al. 2023

Bioinspir. Biomim.

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The advent of variable stiffness soft robotic grippers furnishes a conduit for exploration and manipulation within uncharted, non-structured environments. The paper provides a comprehensive review of the necessary technologies for the configuration design of soft robotic grippers with variable stiffness, serving as a reference for innovative gripper design. The design of variable stiffness soft robotic grippers typically encompasses the design of soft robotic grippers and variable stiffness modules.To adapt to unfamiliar environments and grasp unknown objects, a categorization and discussion have been undertaken based on the contact and motion manifestations between the gripper and the things across various dimensions: points contact (PC), lines contact (LC), surfaces contact (SC), and full-bodies contact (FBC), elucidating the advantages and characteristics of each gripping type. Furthermore, when designing soft robotic grippers, we must consider the effectiveness of object grasping methods but also the applicability of the actuation in the target environment. The actuation is the propelling force behind the gripping motion, holding utmost significance in shaping the structure of the gripper. Given the challenge of matching the actuation of robotic grippers with the target scenario, we reviewed the actuation of soft robotic grippers. We analyzed the strengths and limitations of various soft actuation, providing insights into the actuation design for soft robotic grippers. As a crucial technique for variable stiffness soft robotic grippers, variable stiffness technology can effectively address issues such as poor load-bearing capacity and instability caused by the softness of materials. Through a retrospective analysis of variable stiffness theory, we comprehensively introduce the development of variable stiffness theory in soft robotic grippers and showcase the application of variable stiffness grasping technology through specific case studies. Finally, we discuss the future prospects of variable stiffness grasping robots from several perspectives of applications and technologies.

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Section: Variable Stiffness Based On Materials Physical Propertiesmentioning

confidence: 99%

Variable stiffness soft robotic gripper: design, development, and prospects

Shan,

Zhao,

Wang

et al. 2023

Bioinspir. Biomim.

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“…Most researchers utilized easily available or purchasable granulate materials and sizes with some examples of additive manufacturing [28]. Putzu et al [32] and Goetz et al [9] particularly focus on the possible positive influences of soft particles, describing it as a 'squeezing effect between the object and the gripper', which enables the GOI to have a larger contact area. Additionally, the influence of granulate materials on the necessary initial contact force for the molding to different geometries was examined [15,33].…”

Section: Previous Research Regarding the Variation Of Granulatesmentioning

confidence: 99%

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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“…Recently, Luding et al 20 studied the contact and force networks of frictionless soft granular materials, revealing that the evolution of the pressure in the system was correlated with the existence of loops formed in the force network during particle rearrangements. Go ¨tz et al 21 observed that soft particles with larger deformations and increased contact areas result in larger frictional forces and improved holding capacity of a granular gripper. In summary, both particle friction and softness are crucial factors influencing bulk flow behavior, and the intricate interplay between these properties and their combined effects on bulk behavior remains a subject of ongoing investigation.…”

Section: Introductionmentioning

confidence: 99%