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

Steven Meuleman; Vincent Balt; Ahmed Jarray; Vanessa Magnanimo

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 proceeding › Conference paper › Academic › peer-review

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 language	English
Title of host publication	5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017
Editors	E. Onate, P. Wriggers, T. Zohdi, M. Bischoff, D.R.J. Owen
Pages	588-599
Number of pages	12
ISBN (Electronic)	9788494690976
Publication status	Published - 2017
Externally published	Yes
Event	5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017 - Hannover, Germany Duration: 26 Sep 2017 → 28 Sep 2017

Publication series

Name	5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017

Conference

Conference	5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017
Country	Germany
City	Hannover
Period	26/09/17 → 28/09/17

Keywords

DEM
Dry Friction
Granular Gripper
Surface Roughness

Access to Document

http://hdl.handle.net/2117/187396

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Meuleman, S., Balt, V., Jarray, A., & Magnanimo, V. (2017). Investigation of particle properties on the holding force in a granular gripper. In E. Onate, P. Wriggers, T. Zohdi, M. Bischoff, & D. R. J. Owen (Eds.), 5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017 (pp. 588-599). (5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017). http://hdl.handle.net/2117/187396

Meuleman, Steven ; Balt, Vincent ; Jarray, Ahmed ; Magnanimo, Vanessa. / Investigation of particle properties on the holding force in a granular gripper. 5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017. editor / E. Onate ; P. Wriggers ; T. Zohdi ; M. Bischoff ; D.R.J. Owen. 2017. pp. 588-599 (5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017).

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title = "Investigation of particle properties on the holding force in a granular gripper",

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.",

keywords = "DEM, Dry Friction, Granular Gripper, Surface Roughness",

author = "Steven Meuleman and Vincent Balt and Ahmed Jarray and Vanessa Magnanimo",

note = "Copyright: Copyright 2018 Elsevier B.V., All rights reserved.; 5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017 ; Conference date: 26-09-2017 Through 28-09-2017",

year = "2017",

language = "English",

series = "5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017",

pages = "588--599",

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Meuleman, S, Balt, V, Jarray, A & Magnanimo, V 2017, Investigation of particle properties on the holding force in a granular gripper. in E Onate, P Wriggers, T Zohdi, M Bischoff & DRJ Owen (eds), 5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017. 5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017, pp. 588-599, 5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017, Hannover, Germany, 26/09/17. <http://hdl.handle.net/2117/187396>

Investigation of particle properties on the holding force in a granular gripper. / Meuleman, Steven; Balt, Vincent; Jarray, Ahmed; Magnanimo, Vanessa.

5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017. ed. / E. Onate; P. Wriggers; T. Zohdi; M. Bischoff; D.R.J. Owen. 2017. p. 588-599 (5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › Academic › peer-review

TY - GEN

T1 - Investigation of particle properties on the holding force in a granular gripper

AU - Meuleman, Steven

AU - Balt, Vincent

AU - Jarray, Ahmed

AU - Magnanimo, Vanessa

PY - 2017

Y1 - 2017

N2 - 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.

AB - 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.

KW - DEM

KW - Dry Friction

KW - Granular Gripper

KW - Surface Roughness

M3 - Conference paper

AN - SCOPUS:85040737644

T3 - 5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017

SP - 588

EP - 599

BT - 5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017

A2 - Onate, E.

A2 - Wriggers, P.

A2 - Zohdi, T.

A2 - Bischoff, M.

A2 - Owen, D.R.J.

T2 - 5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017

Y2 - 26 September 2017 through 28 September 2017

ER -

Meuleman S, Balt V, Jarray A, Magnanimo V. Investigation of particle properties on the holding force in a granular gripper. In Onate E, Wriggers P, Zohdi T, Bischoff M, Owen DRJ, editors, 5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017. 2017. p. 588-599. (5th International Conference on Particle-Based Methods - Fundamentals and Applications, PARTICLES 2017).