The ability to adapt and conform to angular and uneven surfaces improves the suction cup's performance in grasping and manipulation. However, in most cases, the adaptation costs lack of required stiffness for manipulation after surface attachment; thus, the ideal scenario is to have compliance during adaptation and stiffness after attachment to the surface. Nevertheless, most stiffness modulation techniques in suction cups require additional actuation. This article presents a new stiffness tunable suction cup that adapts to steep angular surfaces. Using granular jamming as a vacuum driven stiffness modulation provides a sensorless for activating the mechanism. Thus, the design is composed of a conventional active suction pad connected to a granular stalk, emulating a hinge behavior that is compliant during adaptation and has high stiffness after attachment is ensured. During the experiment, the suction cup can adapt to angles up to 85 degrees with force lower than 0.5 N. We also investigated the effect of granular stalk's length on the adaptation and how this design performs compared to passive adaptation without stiffness modulation.
翻译:适应和适应角形和不均匀表面的能力提高了吸管杯在捕捉和操纵方面的性能。 但是,在大多数情况下,适应成本在表面附着之后缺乏必要的严格性以便操作; 因此,理想的设想是,在适应和紧紧附表面之后,在适应和紧紧度期间,符合要求。 然而,吸管杯中大多数僵硬性调制技术需要额外的动力。 本条提出了一个新的僵硬性金枪鱼样抽吸杯,适应角形表面。 使用颗粒干扰作为真空驱动的僵硬调制器,为激活机制提供了无感应器。 因此, 设计是由常规的活性吸附垫组成, 与颗粒跟踪相连, 模拟在适应和紧紧紧紧附之后具有高度僵硬性的行为。 在实验期间, 吸附杯可以适应85度, 其强度小于0.5 N。 我们还调查了颗粒粒尾的长度对适应的影响, 以及这种设计如何与被动适应相比,没有僵硬性调制。