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Related Experiment Video

Updated: Jun 19, 2025

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A Variable Stiffness Bioinspired Swallowing Gripper Based on Particle Jamming.

Mingge Li1, Xiaoming Huang1, Quan Liu1

  • 1School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China.

Soft Robotics
|July 26, 2024
PubMed
Summary
This summary is machine-generated.

Inspired by chameleons, this study presents a variable stiffness swallowing gripper (VSSG). This innovative gripper can switch between soft and rigid states, enhancing adaptability and load-bearing capacity for secure object handling.

Keywords:
bioinspired roboticsparticle jammingswallowing gripperuniversal grasping

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Area of Science:

  • Robotics and Biomimetics
  • Materials Science
  • Mechanical Engineering

Background:

  • Chameleons utilize a unique tongue-swallowing mechanism to capture and secure prey.
  • Existing grippers often struggle with adaptability and maintaining grip strength under varying loads.

Purpose of the Study:

  • To design, manufacture, and test a novel variable stiffness swallowing gripper (VSSG) inspired by chameleon tongue behavior.
  • To integrate a particle jamming mechanism with soft robotics for adaptable object manipulation.

Main Methods:

  • The VSSG was constructed using intimal and adventitial membranes with a particle-liquid medium.
  • A particle jamming mechanism was employed, controlled by liquid water expulsion to transition between soft and rigid states.
  • Mathematical modeling of holding and extrusion forces was performed, followed by experimental validation.

Main Results:

  • The VSSG demonstrated successful swallowing of diverse objects in its soft state, showcasing flexibility and adaptability.
  • The gripper's load-bearing capacity approximately doubled when transitioning to the rigid state via particle jamming.
  • Comparative studies confirmed the VSSG's significant load-bearing capability.

Conclusions:

  • The VSSG effectively mimics chameleon swallowing behavior for versatile object handling.
  • The variable stiffness design significantly enhances both adaptability and load-bearing capacity.
  • This technology offers a promising solution for applications requiring adaptable and robust gripping.