Effect of the granular material on the maximum holding force of a granular gripper

Autores
Gómez Paccapelo, Julián M.; Santarossa, Angel Agustín; Bustos, Horacio Daniel; Pugnaloni, Luis Ariel
Año de publicación
2021
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
A granular gripper is a device used to hold objects by taking advantage of the phenomenon of Reynold’s dilatancy. A membrane containing a granular sample is allowed to deform around the object to be held and then vacuum is used to jam the granular material inside the membrane. This allows to hold the object against external forces since deformation of the granular material is prevented by not allowing the system to increase its volume. The maximum holding force supported by the gripper depends on a number of variables. In this work, we show that in the regime of frictional holding (where the gripper does not interlock with the object), the maximum holding force as a function of the penetration of the object in the gripper does not depend on the granular material used to fll the membrane. Results for a variety of granular materials can be collapsed into a single curve if maximum holding force is plotted against the penetration depth achieved. The results suggest that a robotic arm capable of sensing the penetration depth can use this master curve to estimate the maximum holding force at each gripping operation.
Fil: Gómez Paccapelo, Julián M.. Universidad Nacional de La Pampa. Facultad de Ciencias Exactas y Naturales. Departamento de Física; Argentina
Fil: Santarossa, Angel Agustín. Universidad Nacional de La Pampa. Facultad de Ciencias Exactas y Naturales. Departamento de Física; Argentina. Universitat Erlangen Nuremberg; Alemania
Fil: Bustos, Horacio Daniel. Universidad Nacional de La Pampa. Facultad de Ciencias Exactas y Naturales. Departamento de Física; Argentina
Fil: Pugnaloni, Luis Ariel. Universidad Nacional de La Pampa. Facultad de Ciencias Exactas y Naturales. Departamento de Física; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Patagonia Confluencia; Argentina
Materia
DILATANCY
JAMMING
UNIVERSAL GRIPPER
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/149973
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Effect of the granular material on the maximum holding force of a granular gripperGómez Paccapelo, Julián M.Santarossa, Angel AgustínBustos, Horacio DanielPugnaloni, Luis ArielDILATANCYJAMMINGUNIVERSAL GRIPPERhttps://purl.org/becyt/ford/2.3https://purl.org/becyt/ford/2A granular gripper is a device used to hold objects by taking advantage of the phenomenon of Reynold’s dilatancy. A membrane containing a granular sample is allowed to deform around the object to be held and then vacuum is used to jam the granular material inside the membrane. This allows to hold the object against external forces since deformation of the granular material is prevented by not allowing the system to increase its volume. The maximum holding force supported by the gripper depends on a number of variables. In this work, we show that in the regime of frictional holding (where the gripper does not interlock with the object), the maximum holding force as a function of the penetration of the object in the gripper does not depend on the granular material used to fll the membrane. Results for a variety of granular materials can be collapsed into a single curve if maximum holding force is plotted against the penetration depth achieved. The results suggest that a robotic arm capable of sensing the penetration depth can use this master curve to estimate the maximum holding force at each gripping operation.Fil: Gómez Paccapelo, Julián M.. Universidad Nacional de La Pampa. Facultad de Ciencias Exactas y Naturales. Departamento de Física; ArgentinaFil: Santarossa, Angel Agustín. Universidad Nacional de La Pampa. Facultad de Ciencias Exactas y Naturales. Departamento de Física; Argentina. Universitat Erlangen Nuremberg; AlemaniaFil: Bustos, Horacio Daniel. Universidad Nacional de La Pampa. Facultad de Ciencias Exactas y Naturales. Departamento de Física; ArgentinaFil: Pugnaloni, Luis Ariel. Universidad Nacional de La Pampa. Facultad de Ciencias Exactas y Naturales. Departamento de Física; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Patagonia Confluencia; ArgentinaSpringer-v D I Verlag Gmbh2021-02info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/149973Gómez Paccapelo, Julián M.; Santarossa, Angel Agustín; Bustos, Horacio Daniel; Pugnaloni, Luis Ariel; Effect of the granular material on the maximum holding force of a granular gripper; Springer-v D I Verlag Gmbh; Granular Matter; 23; 4; 2-2021; 1-61434-50211434-7636CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/info:eu-repo/semantics/altIdentifier/doi/10.1007/s10035-020-01069-zinfo:eu-repo/semantics/altIdentifier/url/https://arxiv.org/abs/2010.14992info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T10:18:09Zoai:ri.conicet.gov.ar:11336/149973instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 10:18:09.262CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Effect of the granular material on the maximum holding force of a granular gripper
title Effect of the granular material on the maximum holding force of a granular gripper
spellingShingle Effect of the granular material on the maximum holding force of a granular gripper
Gómez Paccapelo, Julián M.
DILATANCY
JAMMING
UNIVERSAL GRIPPER
title_short Effect of the granular material on the maximum holding force of a granular gripper
title_full Effect of the granular material on the maximum holding force of a granular gripper
title_fullStr Effect of the granular material on the maximum holding force of a granular gripper
title_full_unstemmed Effect of the granular material on the maximum holding force of a granular gripper
title_sort Effect of the granular material on the maximum holding force of a granular gripper
dc.creator.none.fl_str_mv Gómez Paccapelo, Julián M.
Santarossa, Angel Agustín
Bustos, Horacio Daniel
Pugnaloni, Luis Ariel
author Gómez Paccapelo, Julián M.
author_facet Gómez Paccapelo, Julián M.
Santarossa, Angel Agustín
Bustos, Horacio Daniel
Pugnaloni, Luis Ariel
author_role author
author2 Santarossa, Angel Agustín
Bustos, Horacio Daniel
Pugnaloni, Luis Ariel
author2_role author
author
author
dc.subject.none.fl_str_mv DILATANCY
JAMMING
UNIVERSAL GRIPPER
topic DILATANCY
JAMMING
UNIVERSAL GRIPPER
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.3
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv A granular gripper is a device used to hold objects by taking advantage of the phenomenon of Reynold’s dilatancy. A membrane containing a granular sample is allowed to deform around the object to be held and then vacuum is used to jam the granular material inside the membrane. This allows to hold the object against external forces since deformation of the granular material is prevented by not allowing the system to increase its volume. The maximum holding force supported by the gripper depends on a number of variables. In this work, we show that in the regime of frictional holding (where the gripper does not interlock with the object), the maximum holding force as a function of the penetration of the object in the gripper does not depend on the granular material used to fll the membrane. Results for a variety of granular materials can be collapsed into a single curve if maximum holding force is plotted against the penetration depth achieved. The results suggest that a robotic arm capable of sensing the penetration depth can use this master curve to estimate the maximum holding force at each gripping operation.
Fil: Gómez Paccapelo, Julián M.. Universidad Nacional de La Pampa. Facultad de Ciencias Exactas y Naturales. Departamento de Física; Argentina
Fil: Santarossa, Angel Agustín. Universidad Nacional de La Pampa. Facultad de Ciencias Exactas y Naturales. Departamento de Física; Argentina. Universitat Erlangen Nuremberg; Alemania
Fil: Bustos, Horacio Daniel. Universidad Nacional de La Pampa. Facultad de Ciencias Exactas y Naturales. Departamento de Física; Argentina
Fil: Pugnaloni, Luis Ariel. Universidad Nacional de La Pampa. Facultad de Ciencias Exactas y Naturales. Departamento de Física; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Patagonia Confluencia; Argentina
description A granular gripper is a device used to hold objects by taking advantage of the phenomenon of Reynold’s dilatancy. A membrane containing a granular sample is allowed to deform around the object to be held and then vacuum is used to jam the granular material inside the membrane. This allows to hold the object against external forces since deformation of the granular material is prevented by not allowing the system to increase its volume. The maximum holding force supported by the gripper depends on a number of variables. In this work, we show that in the regime of frictional holding (where the gripper does not interlock with the object), the maximum holding force as a function of the penetration of the object in the gripper does not depend on the granular material used to fll the membrane. Results for a variety of granular materials can be collapsed into a single curve if maximum holding force is plotted against the penetration depth achieved. The results suggest that a robotic arm capable of sensing the penetration depth can use this master curve to estimate the maximum holding force at each gripping operation.
publishDate 2021
dc.date.none.fl_str_mv 2021-02
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/149973
Gómez Paccapelo, Julián M.; Santarossa, Angel Agustín; Bustos, Horacio Daniel; Pugnaloni, Luis Ariel; Effect of the granular material on the maximum holding force of a granular gripper; Springer-v D I Verlag Gmbh; Granular Matter; 23; 4; 2-2021; 1-6
1434-5021
1434-7636
CONICET Digital
CONICET
url http://hdl.handle.net/11336/149973
identifier_str_mv Gómez Paccapelo, Julián M.; Santarossa, Angel Agustín; Bustos, Horacio Daniel; Pugnaloni, Luis Ariel; Effect of the granular material on the maximum holding force of a granular gripper; Springer-v D I Verlag Gmbh; Granular Matter; 23; 4; 2-2021; 1-6
1434-5021
1434-7636
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/
info:eu-repo/semantics/altIdentifier/doi/10.1007/s10035-020-01069-z
info:eu-repo/semantics/altIdentifier/url/https://arxiv.org/abs/2010.14992
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Springer-v D I Verlag Gmbh
publisher.none.fl_str_mv Springer-v D I Verlag Gmbh
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1844614140661858304
score 13.070432

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