A High Performance Pneumatically Actuated Soft Gripper Based on Layer Jamming скачать в хорошем качестве

A High Performance Pneumatically Actuated Soft Gripper Based on Layer Jamming

This video is a supplemental video of an article published on ASME Journal of Mechanisms and Robotics in 2022. See the article abstract below. This article presents a novel soft robotic gripper with a high payload capacity based on the layer jamming technology. Soft robots have a high adaptability, however, suffer a low payload capacity. To overcome these conflicting challenges, here we introduce a 3d printed multi-material gripper that integrates jamming layers for enhancing payload capacity. By inflating the internal air chamber with positive pressure, the finger can be actuated to a large bending angle for adapting complex shapes. Layers of jamming sheets are bounded on the finger structure and are then sealed inside a vacuum bag. When a high payload is desired, air inside the vacuum bag is drawn out and a negative air pressure is applied to the jamming layers, which leads to the gripper locked at the actuated shape. To evaluate the performance of the gripper, we conducted extensive tests including actuation, stiffness variation, typical payload capacity and adaptability. The results show that our gripper is not only highly adaptable just like most soft grippers, but more importantly capable of grasping heavy (about 6-10kg) objects comparable to rigid-body counterparts.