{"title":"通过软硬颗粒混合物增强颗粒干扰抓取器的互锁性","authors":"Angel Santarossa, Thorsten Pöschel","doi":"10.1007/s10035-024-01475-7","DOIUrl":null,"url":null,"abstract":"<div><p>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.</p><h3>Graphic abstract</h3><div><figure><div><div><picture><source><img></source></picture></div></div></figure></div></div>","PeriodicalId":49323,"journal":{"name":"Granular Matter","volume":"26 4","pages":""},"PeriodicalIF":2.4000,"publicationDate":"2024-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10035-024-01475-7.pdf","citationCount":"0","resultStr":"{\"title\":\"Enhanced interlocking in granular jamming grippers through hard and soft particle mixtures\",\"authors\":\"Angel Santarossa, Thorsten Pöschel\",\"doi\":\"10.1007/s10035-024-01475-7\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>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.</p><h3>Graphic abstract</h3><div><figure><div><div><picture><source><img></source></picture></div></div></figure></div></div>\",\"PeriodicalId\":49323,\"journal\":{\"name\":\"Granular Matter\",\"volume\":\"26 4\",\"pages\":\"\"},\"PeriodicalIF\":2.4000,\"publicationDate\":\"2024-10-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://link.springer.com/content/pdf/10.1007/s10035-024-01475-7.pdf\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Granular Matter\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://link.springer.com/article/10.1007/s10035-024-01475-7\",\"RegionNum\":3,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Granular Matter","FirstCategoryId":"5","ListUrlMain":"https://link.springer.com/article/10.1007/s10035-024-01475-7","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
摘要
我们研究了颗粒硬度对颗粒抓手抓取性能的影响，颗粒抓手是一类利用颗粒干扰来操纵物体的软机器人效应器。通过实验分析和 X 射线成像，我们发现，与带有刚性颗粒的抓手相比，带有软颗粒的抓手在卡住物体后会更好地包裹物体。这使得通过互锁产生的夹持力大大增加。在以软质颗粒为主的混合物中加入一小部分硬质颗粒，不仅能保持更好的包裹性，还能显著提高最大夹持力。这些结果表明，可以采用一种可调整的方法来优化颗粒抓手的设计，从而提高软机器人应用的性能。
Enhanced interlocking in granular jamming grippers through hard and soft particle mixtures
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.
期刊介绍：
Although many phenomena observed in granular materials are still not yet fully understood, important contributions have been made to further our understanding using modern tools from statistical mechanics, micro-mechanics, and computational science.
These modern tools apply to disordered systems, phase transitions, instabilities or intermittent behavior and the performance of discrete particle simulations.
>> Until now, however, many of these results were only to be found scattered throughout the literature. Physicists are often unaware of the theories and results published by engineers or other fields - and vice versa.
The journal Granular Matter thus serves as an interdisciplinary platform of communication among researchers of various disciplines who are involved in the basic research on granular media. It helps to establish a common language and gather articles under one single roof that up to now have been spread over many journals in a variety of fields. Notwithstanding, highly applied or technical work is beyond the scope of this journal.
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