Investigation of Fluidic Universal Gripper for Delicate Object Manipulation.

ABSTRACT: The compliance of conventional granular jamming universal grippers is limited due to the increasing friction among particles when enveloping an object. This property limits the applications of such grippers. In this paper, we propose a fluidic-based approach for universal gripper which has a much higher compliance compared to conventional granular jamming universal grippers. The fluid is made of micro-particles suspended in liquid. Jamming transition of the dense granular suspension fluid from a fluid (hydrodynamic interactions) to solid-like state (frictional contacts) in the gripper is achieved by external pressure from the inflation of an airbag. The basic jamming mechanism and theoretical analysis of the proposed fluid is investigated, and a prototype universal gripper based on the flu

SUBMITTER: Wu C 

PROVIDER: S-EPMC10204416 | biostudies-literature | 2023 May

REPOSITORIES: biostudies-literature