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Related Concept Videos

Static and Kinetic Frictional Force01:05

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One of the simpler characteristics of sliding friction is that it is parallel to the contact surfaces between systems, and is always in a direction that opposes the motion or attempted motion of the systems relative to each other. If two systems are in contact and moving relative to one another, then the friction between them is called kinetic friction. For example, kinetic friction slows a hockey puck sliding on ice.
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When materials are subjected to forces that surpass their yield strength, they undergo a process known as plastic deformation. This results in a permanent alteration or strain in their structure. This concept can be specifically applied to circular shafts, where the deformation leads to a change in its shape. The precise evaluation of this plastic deformation requires understanding the stress distribution within the circular shaft, which is achieved by calculating the maximum shearing stress in...
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One of the distinctive characteristics of circular shafts is their ability to maintain their cross-sectional integrity under torsion. In other words, each cross-section continues to exist as a flat, unaltered entity, simply rotating like a solid, rigid slab. To understand the distribution of shearing stress within such a shaft, consider a cylindrical section inside this circular shaft. This section has a length of L and a radius of R, with one end fixed. The radius of the cylindrical section is...
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Consider a truck trying to pull a stationary car. As the truck exerts a force on the car, static friction is created at the point of contact between the two surfaces. This frictional force resists the car's movement and keeps it at rest. However, when the applied force by the truck surpasses the limiting static frictional force, an interesting phenomenon occurs. The frictional force at the interface reduces to a lower value, known as the kinetic frictional force. At this point, the car...
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In materials that exhibit elastic and plastic behavior, known as elastoplastic materials, residual stresses can accumulate when these materials experience plastic deformation. This deformation arises from either high levels of shearing stress or significant strains. Residual stresses are internal stresses that persist within a material after removing the external force causing deformation. This phenomenon is demonstrated when observing the behavior of a shaft under torque; notably, the...
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Updated: Jul 18, 2025

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation
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A Variable Stiffness Soft Gripper Based on Rotational Layer Jamming.

Mingzhu Zhu1, Mengying Xie2, Yoshiki Mori3

  • 1School of Astronautics, Northwestern Polytechnical University, Xi'an, China.

Soft Robotics
|August 25, 2023
PubMed
Summary

This study introduces a novel soft gripper using rotational layer jamming for variable stiffness. The design enhances grasping robustness for heavy objects during robotic arm movements.

Keywords:
high-speed motionmultimaterial 3D printingrotational layer jammingsoft roboticsvariable stiffness

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Traditional layer jamming soft grippers face challenges including complex fabrication, integration issues, and reduced stiffening effects.
  • A need exists for soft grippers with improved stiffness control and robustness, especially for dynamic grasping applications.

Purpose of the Study:

  • To design and fabricate a variable stiffness soft gripper utilizing rotational layer jamming.
  • To overcome limitations of traditional layer jamming techniques, specifically reducing interlayer slippage.
  • To evaluate the gripper's performance in grasping heavy objects and maintaining robustness during robotic arm motion.

Main Methods:

  • A two-step fabrication process combining multimaterial 3D printing for the soft finger body and mold casting for the vacuum chamber.
  • Incorporation of rotational jamming layers to enhance stiffness control and minimize slippage.
  • Integration of the soft gripper onto a robotic arm for performance testing.

Main Results:

  • The developed soft gripper successfully grasped objects weighing up to 360g.
  • Grasping robustness was maintained even when the robotic arm experienced accelerations up to 7 m/s².
  • The rotational jamming design demonstrated improved performance in high-speed grasping scenarios.

Conclusions:

  • The proposed variable stiffness soft gripper based on rotational layer jamming offers a viable solution to limitations of traditional designs.
  • The gripper exhibits enhanced grasping robustness, making it suitable for dynamic robotic applications involving heavy payloads.
  • The fabrication method is effective for producing complex soft gripper designs.