Investigation of Fluidic Universal Gripper for Delicate Object Manipulation
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 hi...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-05-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/8/2/209 |
| _version_ | 1827738430546640896 |
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| author | Changchun Wu Hao Liu Senyuan Lin Yunquan Li Yonghua Chen |
| author_facet | Changchun Wu Hao Liu Senyuan Lin Yunquan Li Yonghua Chen |
| author_sort | Changchun Wu |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-11T02:44:15Z |
| format | Article |
| id | doaj.art-ecbb14c482604eb88d053388131e070f |
| institution | Directory Open Access Journal |
| issn | 2313-7673 |
| language | English |
| last_indexed | 2024-03-11T02:44:15Z |
| publishDate | 2023-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj.art-ecbb14c482604eb88d053388131e070f2023-11-18T09:29:15ZengMDPI AGBiomimetics2313-76732023-05-018220910.3390/biomimetics8020209Investigation of Fluidic Universal Gripper for Delicate Object ManipulationChangchun Wu0Hao Liu1Senyuan Lin2Yunquan Li3Yonghua Chen4Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, ChinaDepartment of Mechanical Engineering, The University of Hong Kong, Hong Kong, ChinaDepartment of Mechanical Engineering, The University of Hong Kong, Hong Kong, ChinaShien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou 510006, ChinaDepartment of Mechanical Engineering, The University of Hong Kong, Hong Kong, ChinaThe 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.https://www.mdpi.com/2313-7673/8/2/209soft roboticsuniversal grippersvariable stiffnessjamming transitionshear thickening fluid |
| spellingShingle | Changchun Wu Hao Liu Senyuan Lin Yunquan Li Yonghua Chen Investigation of Fluidic Universal Gripper for Delicate Object Manipulation Biomimetics soft robotics universal grippers variable stiffness jamming transition shear thickening fluid |
| title | Investigation of Fluidic Universal Gripper for Delicate Object Manipulation |
| title_full | Investigation of Fluidic Universal Gripper for Delicate Object Manipulation |
| title_fullStr | Investigation of Fluidic Universal Gripper for Delicate Object Manipulation |
| title_full_unstemmed | Investigation of Fluidic Universal Gripper for Delicate Object Manipulation |
| title_short | Investigation of Fluidic Universal Gripper for Delicate Object Manipulation |
| title_sort | investigation of fluidic universal gripper for delicate object manipulation |
| topic | soft robotics universal grippers variable stiffness jamming transition shear thickening fluid |
| url | https://www.mdpi.com/2313-7673/8/2/209 |
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