All-terrain granular gripper

IF 4.3 2区材料科学 Q2 ENGINEERING, CHEMICAL

Particuology Pub Date : 2025-07-22 DOI:10.1016/j.partic.2025.07.006

Angel Santarossa , Olfa D’Angelo , Achim Sack , Thorsten Pöschel

引用次数: 0

Abstract

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.

Abstract Image

查看原文本刊更多论文

全地形颗粒抓手

颗粒抓手可以操纵各种各样的物体，但需要压在物体上以适应它。如果物体被放置在不稳定的地面上，例如沙子或水面上，这个步骤可能会导致物体下沉或远离抓手，妨碍正常操作。我们介绍了一种带有集成吸盘的颗粒夹持器，其中吸盘和卡纸是独立控制的。通过将其抓取性能与典型的颗粒抓取器设计进行比较，我们展示了该系统的鲁棒性和增强的抓取能力。我们表明，所提出的设备可以抓住典型颗粒抓手具有挑战性的物体，包括那些放置在不稳定地面上的物体，因为吸盘稳定了物体，使抓手符合要求。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Particuology 工程技术-材料科学：综合

CiteScore

6.70

自引率

2.90%

发文量

1730

审稿时长

32 days

期刊介绍： The word ‘particuology’ was coined to parallel the discipline for the science and technology of particles. Particuology is an interdisciplinary journal that publishes frontier research articles and critical reviews on the discovery, formulation and engineering of particulate materials, processes and systems. It especially welcomes contributions utilising advanced theoretical, modelling and measurement methods to enable the discovery and creation of new particulate materials, and the manufacturing of functional particulate-based products, such as sensors. Papers are handled by Thematic Editors who oversee contributions from specific subject fields. These fields are classified into: Particle Synthesis and Modification; Particle Characterization and Measurement; Granular Systems and Bulk Solids Technology; Fluidization and Particle-Fluid Systems; Aerosols; and Applications of Particle Technology. Key topics concerning the creation and processing of particulates include: -Modelling and simulation of particle formation, collective behaviour of particles and systems for particle production over a broad spectrum of length scales -Mining of experimental data for particle synthesis and surface properties to facilitate the creation of new materials and processes -Particle design and preparation including controlled response and sensing functionalities in formation, delivery systems and biological systems, etc. -Experimental and computational methods for visualization and analysis of particulate system. These topics are broadly relevant to the production of materials, pharmaceuticals and food, and to the conversion of energy resources to fuels and protection of the environment.