Granular jamming for soft robotics: experiments and modelling of cyclic loading

被引：0

作者：

Bartkowski, Piotr ^{[1
]}

Ciemiorek, Marta ^{[2
]}

Bukowiecki, Hubert ^{[1
]}

Bomba, Piotr ^{[1
]}

Zalewski, Robert ^{[1
]}

机构：

[1] Warsaw Univ Technol, Fac Automot & Construct Machinery Engn, Warsaw, Poland

[2] Warsaw Univ Technol, Fac Mat Sci & Engn, Woloska Str 141, Warsaw, Poland

来源：

ARCHIVES OF CIVIL AND MECHANICAL ENGINEERING | 2025年 / 25卷 / 03期

关键词：

Granular jamming; Soft robotics; Modelling; Cyclic loading; Grippers;

D O I：

10.1007/s43452-025-01176-9

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

The rapid development of research on innovative soft robots has been observed in recent years. Most of these robots are equipped with mechanisms that enable adaptive stiffness changes. Although various physical effects facilitate this capability, one of the most intriguing is undoubtedly the granular jamming phenomenon. Structures based on this effect consist of granules enclosed within an elastomer sleeve, with stiffness controlled by vacuum pressure. This work focuses on investigating the properties of such structures subjected to cyclic loading under different stress states. We conducted a wide range of empirical tests under various loading conditions, including compression, tension, and bending. Based on this research, a constitutive equation was proposed to describe this phenomenon. The model was implemented into commercial finite element (FE) software, and numerical predictions were validated with empirical results. Finally, a new concept for a soft robotic gripper utilizing granular jamming as a stiffening mechanism was proposed and tested.

引用

页数：14

共 29 条

[1] Programmable Shape-Shifting Soft Robotic Structure Using Liquid Metal Electromagnetic Actuators [J].