Granular grippers can manipulate a wide variety of objects,but need to be pressed against the object to conform to it.If the object is placed on unstable ground,e.g.,on sand or water,this step might cause the object t...Granular grippers can manipulate a wide variety of objects,but need to be pressed against the object to conform to it.If the object is placed on unstable ground,e.g.,on sand or water,this step might cause the object to sink or move away from the gripper,hindering proper operation.We introduce a granular gripper with an integrated suction cup,where suction and jamming are controlled independently.We demonstrate the system’s robust and enhanced gripping capabilities by comparing its grasping performance with a typical granular gripper design.We show that the proposed device can grip objects that are challenging for typical granular grippers,including those placed on unstable ground,as the suction cup stabilizes the object,allowing the gripper to conform.展开更多
基金supported by German Science Foundation via grant 411517575 within the Priority Programme“Soft Material Robotic Systems”(SPP 2100).
文摘Granular grippers can manipulate a wide variety of objects,but need to be pressed against the object to conform to it.If the object is placed on unstable ground,e.g.,on sand or water,this step might cause the object to sink or move away from the gripper,hindering proper operation.We introduce a granular gripper with an integrated suction cup,where suction and jamming are controlled independently.We demonstrate the system’s robust and enhanced gripping capabilities by comparing its grasping performance with a typical granular gripper design.We show that the proposed device can grip objects that are challenging for typical granular grippers,including those placed on unstable ground,as the suction cup stabilizes the object,allowing the gripper to conform.
