Inflatable Particle-Jammed Robotic Gripper Based on Integration of Positive Pressure and Partial Filling.

Soft Robotics
Yanjie WangMinzhou Luo

Abstract

In this work, we proposed an inflatable particle-jamming gripper based on a novel grasping strategy of integrating the positive pressure and partial filling, in which the positive pressure increases the contact area between the gripper and objects, and the grain package in a partial-filled state provides significant grasping adaptation for the gripper. First, we design and fabricate the inflatable particle-jamming gripper and clarify its working mechanism. Then three kinds of grippers, including the proposed inflatable gripper, full-filled gripper, and partial-filled gripper, are experimentally compared for the capability of grasping objects of various sizes, and their performances from four metrics (compliance, reliability, grasping robustness, and lifting efficiency) are evaluated as well. Furthermore, a theoretical analysis is carried out for different grasping performances among the three kinds of grippers, in which the inflatable gripper performs a more promising grasping performance. In this article, by inflating the gripper to an ordered extent with positive pressure, the originally full-filled gripper turns into a partial-filled state. Based on the unique grasping strategy of the proposed gripper, it is possible to achi...Continue Reading

References

Feb 18, 2011·Angewandte Chemie·Filip IlievskiGeorge M Whitesides
Jan 13, 2017·Soft Robotics·John AmendBill Culley
Nov 29, 2017·Soft Robotics·John Amend, Hod Lipson
Dec 19, 2017·Soft Robotics·Stephen LichtChristopher Baxter
May 8, 2018·Advanced Materials·Jun ShintakeHerbert Shea

❮ Previous
Next ❯

Related Concepts

Trending Feeds

COVID-19

Coronaviruses encompass a large family of viruses that cause the common cold as well as more serious diseases, such as the ongoing outbreak of coronavirus disease 2019 (COVID-19; formally known as 2019-nCoV). Coronaviruses can spread from animals to humans; symptoms include fever, cough, shortness of breath, and breathing difficulties; in more severe cases, infection can lead to death. This feed covers recent research on COVID-19.

Blastomycosis

Blastomycosis fungal infections spread through inhaling Blastomyces dermatitidis spores. Discover the latest research on blastomycosis fungal infections here.

Nuclear Pore Complex in ALS/FTD

Alterations in nucleocytoplasmic transport, controlled by the nuclear pore complex, may be involved in the pathomechanism underlying multiple neurodegenerative diseases including Amyotrophic Lateral Sclerosis and Frontotemporal Dementia. Here is the latest research on the nuclear pore complex in ALS and FTD.

Applications of Molecular Barcoding

The concept of molecular barcoding is that each original DNA or RNA molecule is attached to a unique sequence barcode. Sequence reads having different barcodes represent different original molecules, while sequence reads having the same barcode are results of PCR duplication from one original molecule. Discover the latest research on molecular barcoding here.

Chronic Fatigue Syndrome

Chronic fatigue syndrome is a disease characterized by unexplained disabling fatigue; the pathology of which is incompletely understood. Discover the latest research on chronic fatigue syndrome here.

Evolution of Pluripotency

Pluripotency refers to the ability of a cell to develop into three primary germ cell layers of the embryo. This feed focuses on the mechanisms that underlie the evolution of pluripotency. Here is the latest research.

Position Effect Variegation

Position Effect Variagation occurs when a gene is inactivated due to its positioning near heterochromatic regions within a chromosome. Discover the latest research on Position Effect Variagation here.

STING Receptor Agonists

Stimulator of IFN genes (STING) are a group of transmembrane proteins that are involved in the induction of type I interferon that is important in the innate immune response. The stimulation of STING has been an active area of research in the treatment of cancer and infectious diseases. Here is the latest research on STING receptor agonists.

Microbicide

Microbicides are products that can be applied to vaginal or rectal mucosal surfaces with the goal of preventing, or at least significantly reducing, the transmission of sexually transmitted infections. Here is the latest research on microbicides.