Development of universal jamming gripper with a force feedback mechanism

Takeshi Nishida, Daichi Shigehisa, Naoaki Kawashima, Kenjiro Tadakuma

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

A universal jamming gripper (UJG) that consists of a single mass of granular material encased in an elastic membrane, and a vacuum pump that extracts air can passively conform to a wide variety of arbitrarily shaped objects, and then vacuum-harden to grip the objects rigidly. In this study, an elastic membrane is first filled with various materials and a material suitable for the UJG is determined by verifying the grip force. Next, the optimal fill volume of the material is determined experimentally. Furthermore, it is shown experimentally that an appropriate press force exists for generating maximum grip force of the UJG. Finally, a force feedback mechanism of the UJG is developed for generating the appropriate press force, and its effectiveness is evaluated by experiment.

Original languageEnglish
Title of host publication2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages242-246
Number of pages5
ISBN (Electronic)9781479959556
DOIs
Publication statusPublished - 2014 Feb 18
Externally publishedYes
Event2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014 - Kitakyushu, Japan
Duration: 2014 Dec 32014 Dec 6

Publication series

Name2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014

Other

Other2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
CountryJapan
CityKitakyushu
Period14/12/314/12/6

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence

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