A Variable Stiffness Bioinspired Swallowing Gripper Based on Particle Jamming.

Soft robotics Pub Date : 2025-02-01 Epub Date: 2024-07-26 DOI:10.1089/soro.2023.0241
Mingge Li, Xiaoming Huang, Quan Liu, Zhongjun Yin
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Abstract

As the chameleon tongue swallows the food, it wraps the entrapped meat around the food, ensuring that it is completely enclosed and preventing it from falling off. Inspired by swallow behavior, this article introduces the design, manufacture, modeling, and experimentation of a variable stiffness swallowing gripper (VSSG). The VSSG is comprised of an intimal membrane, an adventitial membrane, and an internal medium of particles and liquid water. This gripper integrates swallowing behavior with a particle jamming mechanism, exhibiting both soft and rigid state. In the soft state, it gently swallows objects by folding its intimal and adventitial membranes. In the rigid state, the bearing capacity is enhanced by promoting particle jamming phenomenon through pumping out liquid water. Therefore, the proposed gripper has the capability to mitigate the issue of extrusion force applied on the object, while simultaneously enhancing the load-bearing capacity of swallowing gripper. In this article, the swallowing principle of the VSSG is analyzed, the mathematical model of the holding force and extrusion force is deduced, and preliminary experiments are carried out to verify the actual gripping effect of the gripper. The experimental results demonstrate that the VSSG can successfully swallow objects of different shapes in the soft state, exhibiting excellent flexibility and adaptability. The carrying capacity of the gripper in the rigid state increased approximately twofold compared with its soft state. In addition, several swallowing grippers with different filling medium were comparatively studied, and the results show that the VSSG has a large load-bearing capability.

基于粒子干扰的可变刚度生物启发吞咽抓手
变色龙的舌头在吞咽食物时,会将夹在食物中的肉包裹起来,确保食物被完全包住,防止食物脱落。受吞咽行为的启发,本文介绍了可变刚度吞咽夹具(VSSG)的设计、制造、建模和实验。VSSG 由内膜、外膜以及由颗粒和液态水组成的内部介质构成。这种夹持器将吞咽行为与颗粒干扰机制融为一体,同时表现出软态和硬态两种状态。在柔软状态下,它通过折叠内膜和外膜轻轻地吞咽物体。在刚性状态下,它通过抽出液态水来促进颗粒卡住现象,从而提高承载能力。因此,拟议的抓取器能够减轻物体受到的挤压力问题,同时提高吞咽抓取器的承载能力。本文分析了 VSSG 的吞吐原理,推导了夹持力和挤出力的数学模型,并通过初步实验验证了该机械手的实际抓取效果。实验结果表明,VSSG 可在软状态下成功吞吐不同形状的物体,表现出良好的柔韧性和适应性。与软状态相比,该机械手在硬状态下的承载能力提高了约两倍。此外,还对几种不同填充介质的吞咽机械手进行了比较研究,结果表明 VSSG 具有较大的承载能力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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