Design and analysis of a robust, low-cost, highly articulated manipulator enabled by jamming of granular media
Hyper-redundant manipulators can be fragile, expensive, and limited in their flexibility due to the distributed and bulky actuators that are typically used to achieve the precision and degrees of freedom (DOFs) required. Here, a manipulator is proposed that is robust, high-force, low-cost, and highl...
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| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2013
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| Online Access: | http://hdl.handle.net/1721.1/79716 https://orcid.org/0000-0003-4940-7496 https://orcid.org/0000-0002-8775-5590 |
| _version_ | 1826214356062306304 |
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| author | Lobovsky, Maxim B. Keating, Steven John Setapen, Adam M. Gero, Katy I. Hosoi, Anette E. Iagnemma, Karl Cheng, Nadia Gen San |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Lobovsky, Maxim B. Keating, Steven John Setapen, Adam M. Gero, Katy I. Hosoi, Anette E. Iagnemma, Karl Cheng, Nadia Gen San |
| author_sort | Lobovsky, Maxim B. |
| collection | MIT |
| description | Hyper-redundant manipulators can be fragile, expensive, and limited in their flexibility due to the distributed and bulky actuators that are typically used to achieve the precision and degrees of freedom (DOFs) required. Here, a manipulator is proposed that is robust, high-force, low-cost, and highly articulated without employing traditional actuators mounted at the manipulator joints. Rather, local tunable stiffness is coupled with off-board spooler motors and tension cables to achieve complex manipulator configurations. Tunable stiffness is achieved by reversible jamming of granular media, which-by applying a vacuum to enclosed grains-causes the grains to transition between solid-like states and liquid-like ones. Experimental studies were conducted to identify grains with high strength-to-weight performance. A prototype of the manipulator is presented with performance analysis, with emphasis on speed, strength, and articulation. This novel design for a manipulator-and use of jamming for robotic applications in general-could greatly benefit applications such as human-safe robotics and systems in which robots need to exhibit high flexibility to conform to their environments. |
| first_indexed | 2024-09-23T16:04:06Z |
| format | Article |
| id | mit-1721.1/79716 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T16:04:06Z |
| publishDate | 2013 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/797162022-09-29T17:59:09Z Design and analysis of a robust, low-cost, highly articulated manipulator enabled by jamming of granular media Lobovsky, Maxim B. Keating, Steven John Setapen, Adam M. Gero, Katy I. Hosoi, Anette E. Iagnemma, Karl Cheng, Nadia Gen San Massachusetts Institute of Technology. Department of Mechanical Engineering Massachusetts Institute of Technology. Laboratory for Manufacturing and Productivity Keating, Steven John Gero, Katy I. Hosoi, Anette E. Iagnemma, Karl Lobovsky, Maxim B. Keating, Steven John Cheng, Nadia Gen San Setapen, Adam M. Hyper-redundant manipulators can be fragile, expensive, and limited in their flexibility due to the distributed and bulky actuators that are typically used to achieve the precision and degrees of freedom (DOFs) required. Here, a manipulator is proposed that is robust, high-force, low-cost, and highly articulated without employing traditional actuators mounted at the manipulator joints. Rather, local tunable stiffness is coupled with off-board spooler motors and tension cables to achieve complex manipulator configurations. Tunable stiffness is achieved by reversible jamming of granular media, which-by applying a vacuum to enclosed grains-causes the grains to transition between solid-like states and liquid-like ones. Experimental studies were conducted to identify grains with high strength-to-weight performance. A prototype of the manipulator is presented with performance analysis, with emphasis on speed, strength, and articulation. This novel design for a manipulator-and use of jamming for robotic applications in general-could greatly benefit applications such as human-safe robotics and systems in which robots need to exhibit high flexibility to conform to their environments. United States. Defense Advanced Research Projects Agency (Maximum Mobility and Manipulation Program) 2013-07-29T12:44:51Z 2013-07-29T12:44:51Z 2012-05 2011-09 Article http://purl.org/eprint/type/ConferencePaper 978-1-4673-1404-6 978-1-4673-1403-9 1050-4729 http://hdl.handle.net/1721.1/79716 Cheng, Nadia G., Maxim B. Lobovsky, Steven J. Keating, et al. Design and Analysis of a Robust, Low-cost, Highly Articulated Manipulator Enabled by Jamming of Granular Media. In Pp. 4328–4333. 2012, IEEE. https://orcid.org/0000-0003-4940-7496 https://orcid.org/0000-0002-8775-5590 en_US http://dx.doi.org/10.1109/ICRA.2012.6225373 IEEE International Conference on Robotics and Automation (ICRA), 2012 Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT web domain |
| spellingShingle | Lobovsky, Maxim B. Keating, Steven John Setapen, Adam M. Gero, Katy I. Hosoi, Anette E. Iagnemma, Karl Cheng, Nadia Gen San Design and analysis of a robust, low-cost, highly articulated manipulator enabled by jamming of granular media |
| title | Design and analysis of a robust, low-cost, highly articulated manipulator enabled by jamming of granular media |
| title_full | Design and analysis of a robust, low-cost, highly articulated manipulator enabled by jamming of granular media |
| title_fullStr | Design and analysis of a robust, low-cost, highly articulated manipulator enabled by jamming of granular media |
| title_full_unstemmed | Design and analysis of a robust, low-cost, highly articulated manipulator enabled by jamming of granular media |
| title_short | Design and analysis of a robust, low-cost, highly articulated manipulator enabled by jamming of granular media |
| title_sort | design and analysis of a robust low cost highly articulated manipulator enabled by jamming of granular media |
| url | http://hdl.handle.net/1721.1/79716 https://orcid.org/0000-0003-4940-7496 https://orcid.org/0000-0002-8775-5590 |
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