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Fixing Device for a Planar Object by Incorporating Jamming Transition Phenomenon and a Suction Unit
Joint Authors
Bekku, Akira
Nakajima, Yoshikazu
Source
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-05-25
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
This paper presents a versatile method to install a small machining robot onto a planar or slightly curved object.
Normally, gripping tools provide a rigid connection between a robot and a target.
However, if there is no graspable area on the target, the gripper cannot perform well.
To overcome this problem, we proposed a deformable device that works as a universal suction pad and that can hold an ungraspable target by utilizing the jamming transition phenomenon.
We determined the effect of the type of grains on the jamming transition phenomenon in terms of stability under jammed conditions.
By comparing the four types of grains, we found that the tetrahedral-shaped grains performed the best.
Subsequently, we evaluated the performance of the device.
The suction force was 166-N when the proposed device was affixed to a curved target.
Next, we evaluated the stiffness of the device.
The average deformations of the device were 0.10 mm, 0.35 mm, and 0.04 mm, respectively, when 50-N downward vertical, horizontal, and upward vertical directional loads were applied to the device, which was affixed to the curved target.
The results suggest that the proposed device performed well in affixing a robot onto a target.
American Psychological Association (APA)
Bekku, Akira& Nakajima, Yoshikazu. 2015. Fixing Device for a Planar Object by Incorporating Jamming Transition Phenomenon and a Suction Unit. Journal of Robotics،Vol. 2015, no. 2015, pp.1-13.
https://search.emarefa.net/detail/BIM-1070029
Modern Language Association (MLA)
Bekku, Akira& Nakajima, Yoshikazu. Fixing Device for a Planar Object by Incorporating Jamming Transition Phenomenon and a Suction Unit. Journal of Robotics No. 2015 (2015), pp.1-13.
https://search.emarefa.net/detail/BIM-1070029
American Medical Association (AMA)
Bekku, Akira& Nakajima, Yoshikazu. Fixing Device for a Planar Object by Incorporating Jamming Transition Phenomenon and a Suction Unit. Journal of Robotics. 2015. Vol. 2015, no. 2015, pp.1-13.
https://search.emarefa.net/detail/BIM-1070029
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1070029