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arXiv · 2109.03356

Soft particles reinforce robotic grippers: Robotic grippers based on granular jamming of soft particles

Holger Götz·Angel Santarossa·Achim Sack·Thorsten Pöschel·Patric Müller
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Abstract

Granular jamming has been identified as a fundamental mechanism for the operation of robotic grippers. In this work, we show, that soft particles like expanded polystyrene beads lead to significantly larger gripping forces in comparison to rigid particles. In contradiction to naive expectation, the combination of jamming and elasticity gives rise to very different properties of the jammed phase, compared to hard-particle systems. This may be of interest also beyond the application in robotic grippers.

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Holger Götz, Angel Santarossa, Achim Sack, Thorsten Pöschel, Patric Müller. 2021-09-07. Soft particles reinforce robotic grippers: Robotic grippers based on granular jamming of soft particles. https://doi.org/10.1007/s10035-021-01193-4

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