Modelling of the moulding process of a granular-based vacuum gripper with DEM

IF 2.8 3区工程技术 Q1 MATHEMATICS, INTERDISCIPLINARY APPLICATIONS

Computational Particle Mechanics Pub Date : 2025-03-05 DOI:10.1007/s40571-025-00923-2

Niklas Dierks, Christian Wacker, Harald Zetzener, Carsten Schilde, Klaus Dröder, Arno Kwade

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引用次数: 0

Abstract

Granular grippers are a promising approach to the flexible handling in soft robotics. As a result of the used granular materials, these grippers can grasp a wide spectrum of objects with many different shapes, especially compared to conventional mechanical or suction cup grippers. However, accurately predicting the graspability of differently shaped objects remains a challenge. Additionally, a comprehensive understanding of the various influences within the grasping mechanism is still lacking. Therefore, a specific granular-based gripper combining the principles of jamming and vacuum grippers was previously experimentally investigated for different object shapes, while varying various design parameters. In this study, the previous work is expanded through numerically modelling this specific gripper. For this purpose, the first sequence of the grasping process (moulding process) is modelled using the discrete element method, while the bonded particle method is used to model the membrane behaviour. The simulation shows good agreement with the experimental moulding results of differently shaped objects through optical comparisons. Furthermore, the parameters characterising the moulding are compared with a previously introduced object characteristic parameter, enabling the identification and characterisation of influences within the grasping mechanism.

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基于DEM的颗粒真空夹持器成型过程建模

颗粒抓手是软机器人柔性搬运的一种很有前途的方法。由于使用颗粒状材料，这些抓手可以抓住许多不同形状的物体，特别是与传统的机械或吸盘抓手相比。然而，准确预测不同形状物体的可抓取性仍然是一个挑战。此外，对抓握机构内的各种影响的全面理解仍然缺乏。因此，针对不同的目标形状，在不同的设计参数下，结合了干扰和真空夹持原理的特定颗粒夹持器进行了实验研究。在这项研究中，以前的工作是通过数值模拟这个特定的夹具扩展。为此，使用离散元方法对抓取过程（成型过程）的第一个序列进行建模，而使用粘合颗粒方法对膜的行为进行建模。通过光学对比，仿真结果与不同形状物体的实验结果吻合较好。此外，将表征成型的参数与先前引入的物体特征参数进行比较，从而能够识别和表征抓取机构内的影响。

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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来源期刊

Computational Particle Mechanics Mathematics-Computational Mathematics

CiteScore

5.70

自引率

9.10%

发文量

期刊介绍： GENERAL OBJECTIVES: Computational Particle Mechanics (CPM) is a quarterly journal with the goal of publishing full-length original articles addressing the modeling and simulation of systems involving particles and particle methods. The goal is to enhance communication among researchers in the applied sciences who use "particles'''' in one form or another in their research. SPECIFIC OBJECTIVES: Particle-based materials and numerical methods have become wide-spread in the natural and applied sciences, engineering, biology. The term "particle methods/mechanics'''' has now come to imply several different things to researchers in the 21st century, including: (a) Particles as a physical unit in granular media, particulate ﬂows, plasmas, swarms, etc., (b) Particles representing material phases in continua at the meso-, micro-and nano-scale and (c) Particles as a discretization unit in continua and discontinua in numerical methods such as Discrete Element Methods (DEM), Particle Finite Element Methods (PFEM), Molecular Dynamics (MD), and Smoothed Particle Hydrodynamics (SPH), to name a few.