Effect of the granular material on the maximum holding force of a granular gripper

TL;DR

This study investigates how different granular materials affect the maximum holding force of a granular gripper, revealing that in certain conditions, the force depends mainly on deformation properties rather than material type.

Contribution

It demonstrates that in the frictional regime, the maximum holding force is independent of granular material, emphasizing the importance of deformability for effective gripping.

Findings

Maximum holding force is independent of granular material in the frictional regime.

Results for various granular materials collapse into a single curve when plotted against penetration depth.

Deformability of granular material is crucial for effective gripping performance.

Abstract

A granular gripper is a device used to hold objects by taking advantage of the phenomenon of Reynold's dilatancy. A membrane containing a granular sample is allowed to deform around the object to be held and then vacuum is used to jam the granular material inside the membrane. This allows to hold the object against external forces since deformation of the granular material is prevented by not allowing the system to increase its volume. The maximum holding force supported by the gripper depends on a number of variables. In this work, we show that in the regime of frictional holding (where the gripper does not interlock with the object), the maximum holding force does not depend on the granular material used to fill the membrane. Results for a variety of granular materials can be collapsed into a single curve if maximum holding force is plotted against the penetration depth achieved. The results suggest that the most important feature in selecting a particular granular material is its deformability to ensure an easy flow during the initial phase of the gripping process.