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Article: Investigation of Fluidic Universal Gripper for Delicate Object Manipulation

TitleInvestigation of Fluidic Universal Gripper for Delicate Object Manipulation
Authors
Keywordsjamming transition
shear thickening fluid
soft robotics
universal grippers
variable stiffness
Issue Date18-May-2023
PublisherMDPI
Citation
Biomimetics, 2023, v. 8, n. 2 How to Cite?
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 fluid is developed. The proposed universal gripper exhibits advantageous compliance and grasping robustness in sample grasping of delicate objects, such as plants and sponge objects, where the traditional granular jamming universal gripper fails.


Persistent Identifierhttp://hdl.handle.net/10722/331422
ISSN
2023 Impact Factor: 3.4
2023 SCImago Journal Rankings: 0.562
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorWu, Changchun-
dc.contributor.authorLiu, Hao-
dc.contributor.authorLin, Senyuan-
dc.contributor.authorLi, Yunquan-
dc.contributor.authorChen, Yonghua-
dc.date.accessioned2023-09-21T06:55:33Z-
dc.date.available2023-09-21T06:55:33Z-
dc.date.issued2023-05-18-
dc.identifier.citationBiomimetics, 2023, v. 8, n. 2-
dc.identifier.issn2313-7673-
dc.identifier.urihttp://hdl.handle.net/10722/331422-
dc.description.abstract<p>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 fluid is developed. The proposed universal gripper exhibits advantageous compliance and grasping robustness in sample grasping of delicate objects, such as plants and sponge objects, where the traditional granular jamming universal gripper fails.<br></p>-
dc.languageeng-
dc.publisherMDPI-
dc.relation.ispartofBiomimetics-
dc.rightsThis work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.-
dc.subjectjamming transition-
dc.subjectshear thickening fluid-
dc.subjectsoft robotics-
dc.subjectuniversal grippers-
dc.subjectvariable stiffness-
dc.titleInvestigation of Fluidic Universal Gripper for Delicate Object Manipulation-
dc.typeArticle-
dc.description.naturepublished_or_final_version-
dc.identifier.doi10.3390/biomimetics8020209-
dc.identifier.scopuseid_2-s2.0-85163815867-
dc.identifier.volume8-
dc.identifier.issue2-
dc.identifier.eissn2313-7673-
dc.identifier.isiWOS:001017076700001-
dc.identifier.issnl2313-7673-

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