Granular jamming based robotic gripper for heavy objects
作者: Jesse MiettinenPatrick FrilundIiro VuorinenPetri KuosmanenPanu Kiviluoma
作者单位: 1Department of Mechanical Engineering, Aalto University, Sähkömiehentie 4, 02150 Espoo, Finland; Corresponding author,
2Department of Mechanical Engineering, Aalto University, Sähkömiehentie 4, 02150 Espoo, Finland
刊名: Proceedings of the Estonian Academy of Sciences, 2019, Vol.68 (4), pp.421-428
来源数据库: Estonian Academy Publishers Journal Database
DOI: 10.3176/proc.2019.4.12
关键词: Granular jammingCraneLiftingUniversal gripping.
原始语种摘要: Moving heavy objects with overhead cranes requires the operator to fasten the object to a hook with ropes or chains. This is a time-consuming process, which could be avoided by using universal grippers that can lift objects of any shape. This study was conducted to find if a universal gripper, based on granular jamming, can be used for crane scale applications. Maximum lifting capacity of granular jamming grippers was analytically evaluated and experimentally tested with various material combinations. Objects with different shapes, sizes and weights were successfully lifted with selected gripper configurations. The results showed that grain size and grain compressibility both affect the performance of the gripper. It was demonstrated that in order to efficiently lift heavy objects with...
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  • granular 粒状的
  • gripper 抓取装置
  • jamming 干扰
  • heavy 重大的
  • various 千变万化的
  • material 充填料
  • gripping 咬入
  • analytically 分析上
  • weights 法码
  • sufficiently 充足地