Effect of Particle Size on the Suction Mechanism in Granular Grippers

TL;DR

This study investigates how particle size influences the suction mechanism in granular grippers, revealing that smaller particles form better seals and generate vacuum pressure for improved gripping performance.

Contribution

It provides experimental evidence on the impact of particle size on sealing ability and vacuum generation in granular grippers, highlighting the importance of particle size selection.

Findings

Smaller particles conform better around objects, forming airtight seals.

Larger particles create gaps, preventing vacuum formation.

Particle size critically affects the suction mechanism effectiveness.

Abstract

Granular grippers are highly adaptable end-effectors that exploit the reversible jamming transition of granular materials to hold and manipulate objects. Their holding force comes from the combination of three mechanisms: frictional forces, geometrical constraints, and suction effects. In this work, we experimentally study the effect of particle size on the suction mechanism. Through X-ray computed tomography, we show that small particles (average diameter d = 120 micrometers) achieve higher conformation around the object than larger particles (d = 4mm), thus allowing the formation of air-tight seals. When the gripper is pulled off, mimicking lifting of an object, vacuum pressure is generated in the sealed cavity at the interface gripper--object. If the particles used as filling material are too large, the gripper does not conform closely around the object, leaving gaps between the gripper's membrane and the object. These gaps prevent the formation of sealed vacuum cavities between the object and the gripper and in turn hinder the suction mechanism from operating.