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Article: A variable stiffness gripper based on differential drive particle jamming

TitleA variable stiffness gripper based on differential drive particle jamming
Authors
Keywordsdifferential drive particle jamming
fber reinforcement
Particle jamming
stiffness variation
variable stiffness gripper
Issue Date2019
PublisherIOP Publishing: Hybrid Open Access. The Journal's web site is located at http://iopscience.iop.org/1748-3190
Citation
Bioinspiration & Biomimetics, 2019, v. 14 n. 3, p. article no. 036009 How to Cite?
AbstractCompared with rigid grippers, soft grippers show fantastic adaptability and flexibility in grasping irregularly shaped and fragile objects. However, the low stiffness of the soft actuator limits the scope of applications. Particle jamming has emerged as an important method to adjust the stiffness of soft grippers. This paper proposes a novel particle jamming mechanism based on the differential pressure drive. With the differential drive particle jamming mechanism, a soft actuator is designed, which is characterized by a dual-deformable chamber structure in which one chamber is filled with particles. The simultaneous inflation of the two chambers will result in the bending behavior without significant stiffening. However, if the air chamber is pressurized with a larger pressure, the differential pressure will cause the particles inside the particle chamber to jam each other, which increases the stiffness of the actuator significantly. Thus, the differential drive particle jamming mechanism can achieve the independent control of the stiffness and the bending angle. Both theoretical and experimental studies in this area have shown that the gripper based on the differential drive particle jamming mechanism can stiffen itself effectively, and achieve the independent control of the stiffness and the bending angle, which can be adopted in applications where both high stiffness and dexterity are required. © 2019 IOP Publishing Ltd.
Persistent Identifierhttp://hdl.handle.net/10722/273908
ISSN
2017 Impact Factor: 2.727
2015 SCImago Journal Rankings: 1.296
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorJiang, P-
dc.contributor.authorYang, Y-
dc.contributor.authorChen, MZ-
dc.contributor.authorChen, YH-
dc.date.accessioned2019-08-18T14:51:06Z-
dc.date.available2019-08-18T14:51:06Z-
dc.date.issued2019-
dc.identifier.citationBioinspiration & Biomimetics, 2019, v. 14 n. 3, p. article no. 036009-
dc.identifier.issn1748-3182-
dc.identifier.urihttp://hdl.handle.net/10722/273908-
dc.description.abstractCompared with rigid grippers, soft grippers show fantastic adaptability and flexibility in grasping irregularly shaped and fragile objects. However, the low stiffness of the soft actuator limits the scope of applications. Particle jamming has emerged as an important method to adjust the stiffness of soft grippers. This paper proposes a novel particle jamming mechanism based on the differential pressure drive. With the differential drive particle jamming mechanism, a soft actuator is designed, which is characterized by a dual-deformable chamber structure in which one chamber is filled with particles. The simultaneous inflation of the two chambers will result in the bending behavior without significant stiffening. However, if the air chamber is pressurized with a larger pressure, the differential pressure will cause the particles inside the particle chamber to jam each other, which increases the stiffness of the actuator significantly. Thus, the differential drive particle jamming mechanism can achieve the independent control of the stiffness and the bending angle. Both theoretical and experimental studies in this area have shown that the gripper based on the differential drive particle jamming mechanism can stiffen itself effectively, and achieve the independent control of the stiffness and the bending angle, which can be adopted in applications where both high stiffness and dexterity are required. © 2019 IOP Publishing Ltd.-
dc.languageeng-
dc.publisherIOP Publishing: Hybrid Open Access. The Journal's web site is located at http://iopscience.iop.org/1748-3190-
dc.relation.ispartofBioinspiration & Biomimetics-
dc.subjectdifferential drive particle jamming-
dc.subjectfber reinforcement-
dc.subjectParticle jamming-
dc.subjectstiffness variation-
dc.subjectvariable stiffness gripper-
dc.titleA variable stiffness gripper based on differential drive particle jamming-
dc.typeArticle-
dc.identifier.emailChen, MZ: mzqchen@hku.hk-
dc.identifier.emailChen, YH: yhchen@hkucc.hku.hk-
dc.identifier.authorityChen, MZ=rp01317-
dc.identifier.authorityChen, YH=rp00099-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1088/1748-3190/ab04d1-
dc.identifier.pmid30726774-
dc.identifier.scopuseid_2-s2.0-85062627371-
dc.identifier.hkuros301941-
dc.identifier.volume14-
dc.identifier.issue3-
dc.identifier.spagearticle no. 036009-
dc.identifier.epagearticle no. 036009-
dc.identifier.isiWOS:000460827300001-
dc.publisher.placeUnited Kingdom-

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