Granular jamming manipulator filled with new organic materials

Abstract

Variations of both strength and stiffness in bulk, lightweight, and high energy efficiency are the main considerable factors of Granular Jamming Flexible Manipulators (GJFM)s. These factors have distinguished GJFMs from traditional manipulators and can be provided by the most important element of manipulator's bulk which is granular media as filler. Hence, granular materials should have lightweight and provide efficient strength and stiffness in each unique vacuum pressure. Moreover, the necessity of applying Organic Granular Materials (OGM)s was felt owing to their main properties including biodegradable ability, low cost, and availability. Therefore, in this research was striven to discover a new filler as a mix of black Pepper and Datura seeds by performing an experimental test. It was applied in a GJFM as filler, then the robot's performance was examined experimentally and the results are reported in the paper.