Investigation of particle properties on the holding force in a granular gripper

Steven Meuleman, Vincent Balt, Ahmed Jarray, Vanessa Magnanimo

Research output: Chapter in Book/Report/Conference proceedingConference paperAcademicpeer-review

1 Citation (Scopus)

Abstract

The granular gripper is an innovative device designed to grasp objects using the jamming properties of granular materials. However, these properties that influence its performance is still poorly understood. Moreover, to date, there is no numerical model for the granular gripper. In this paper, we combine numerical and experimental approaches to examine the effects of the mechanical properties of the grains on the grip force, with the goal to gain better insight on the influence of these properties and to improve the performance of the granular gripper. On the numerical side, a model based on Discrete Elements Method (DEM) is developed to predict the effect of the granular properties, such as the roughness, on the holding force. Two different ways of modelling the gripper system are presented and compared. The DEM model is tested for different pressures around the jamming pressure. On the experiment side, a granular gripper apparatus is mounted and used to find the relationship between the grains properties and the holding force. The experimental apparatus is also used to validate the DEM model. We found that grains with higher surface roughness result in a higher holding force on a cubical aluminium object. We also found agreements between the results of the experiments and the DEM models. Lastly, advice is given about approximating the holding force for a given gripper system and about further optimizing this system in terms of holding force, pressure and particle roughness.

Original languageEnglish
Title of host publication5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017
EditorsE. Onate, P. Wriggers, T. Zohdi, M. Bischoff, D.R.J. Owen
Pages588-599
Number of pages12
ISBN (Electronic)9788494690976
Publication statusPublished - 2017
Externally publishedYes
Event5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017 - Hannover, Germany
Duration: 26 Sep 201728 Sep 2017

Publication series

Name5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017

Conference

Conference5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017
CountryGermany
CityHannover
Period26/09/1728/09/17

Keywords

  • DEM
  • Dry Friction
  • Granular Gripper
  • Surface Roughness

Fingerprint Dive into the research topics of 'Investigation of particle properties on the holding force in a granular gripper'. Together they form a unique fingerprint.

Cite this