Soft robotic honeycomb-velcro jamming gripper design
In this paper, using a honeycomb-velcro structure to generate a novel jamming gripper is explored. Each finger of the gripper consists of multi-layers with a honeycomb sandwich structure acting as a core wrapped by a fabric sheet and sealed by a latex membrane. This structure can transit between unj...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/181385 |
| _version_ | 1824455388999712768 |
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| author | Chung, Yu Cheng Chow, Wai Tuck Nguyen, Van Pho |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Chung, Yu Cheng Chow, Wai Tuck Nguyen, Van Pho |
| author_sort | Chung, Yu Cheng |
| collection | NTU |
| description | In this paper, using a honeycomb-velcro structure to generate a novel jamming gripper is explored. Each finger of the gripper consists of multi-layers with a honeycomb sandwich structure acting as a core wrapped by a fabric sheet and sealed by a latex membrane. This structure can transit between unjammed (flexible) and jammed (rigid) states thanks to the vacuum pressure. Various materials of honeycomb structure, fabric, and reinforcements are investigated to seek optimal combinations for making the jamming fingers. Then, such fingers are deployed in experiments to evaluate the stiffness and the surface friction with different loads in terms of with or without vacuum. Vacuum pressure boosts the stiffness and friction of all the jamming fingers compared with the without-vacuum case. Attached to a gripper, the jamming finger shows good performance in diverse manipulation with food, a metal component, a toy, a can, and a bottle. Furthermore, the variable-stiffness finger under vacuum pressure can be utilized to perform assembly and installation operations such as pushing a bolt into an aligned hole. |
| first_indexed | 2025-02-19T03:37:25Z |
| format | Journal Article |
| id | ntu-10356/181385 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2025-02-19T03:37:25Z |
| publishDate | 2024 |
| record_format | dspace |
| spelling | ntu-10356/1813852024-11-30T16:48:48Z Soft robotic honeycomb-velcro jamming gripper design Chung, Yu Cheng Chow, Wai Tuck Nguyen, Van Pho School of Mechanical and Aerospace Engineering Engineering Honeycomb jamming gripper Honeycomb-velcro gripper In this paper, using a honeycomb-velcro structure to generate a novel jamming gripper is explored. Each finger of the gripper consists of multi-layers with a honeycomb sandwich structure acting as a core wrapped by a fabric sheet and sealed by a latex membrane. This structure can transit between unjammed (flexible) and jammed (rigid) states thanks to the vacuum pressure. Various materials of honeycomb structure, fabric, and reinforcements are investigated to seek optimal combinations for making the jamming fingers. Then, such fingers are deployed in experiments to evaluate the stiffness and the surface friction with different loads in terms of with or without vacuum. Vacuum pressure boosts the stiffness and friction of all the jamming fingers compared with the without-vacuum case. Attached to a gripper, the jamming finger shows good performance in diverse manipulation with food, a metal component, a toy, a can, and a bottle. Furthermore, the variable-stiffness finger under vacuum pressure can be utilized to perform assembly and installation operations such as pushing a bolt into an aligned hole. Nanyang Technological University Published version This project was supported by Nanyang Technological University under the URECA Undergraduate Research Programme. 2024-11-27T07:44:24Z 2024-11-27T07:44:24Z 2024 Journal Article Chung, Y. C., Chow, W. T. & Nguyen, V. P. (2024). Soft robotic honeycomb-velcro jamming gripper design. Actuators, 13(9), 359-. https://dx.doi.org/10.3390/act13090359 2076-0825 https://hdl.handle.net/10356/181385 10.3390/act13090359 2-s2.0-85205101724 9 13 359 en URECA Actuators © 2024 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https:// creativecommons.org/licenses/by/ 4.0/). application/pdf |
| spellingShingle | Engineering Honeycomb jamming gripper Honeycomb-velcro gripper Chung, Yu Cheng Chow, Wai Tuck Nguyen, Van Pho Soft robotic honeycomb-velcro jamming gripper design |
| title | Soft robotic honeycomb-velcro jamming gripper design |
| title_full | Soft robotic honeycomb-velcro jamming gripper design |
| title_fullStr | Soft robotic honeycomb-velcro jamming gripper design |
| title_full_unstemmed | Soft robotic honeycomb-velcro jamming gripper design |
| title_short | Soft robotic honeycomb-velcro jamming gripper design |
| title_sort | soft robotic honeycomb velcro jamming gripper design |
| topic | Engineering Honeycomb jamming gripper Honeycomb-velcro gripper |
| url | https://hdl.handle.net/10356/181385 |
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