颗粒尺寸对颗粒夹具吸力机制的影响
Effect of Particle Size on the Suction Mechanism in Granular Grippers
AI总结：
本文通过实验和X射线断层扫描研究颗粒尺寸对颗粒夹具吸力机制的影响，发现小颗粒能形成气密密封并产生真空吸力，而大颗粒因留下间隙无法形成密封真空腔，从而削弱吸力机制。
摘要：
颗粒夹具是一种高度适应性的末端执行器，利用颗粒材料的可逆堵塞转变来抓持和操纵物体。其抓持力来自三种机制的共同作用：摩擦力、几何约束和吸力效应。在本工作中，我们通过实验研究了颗粒尺寸对吸力机制的影响。借助X射线计算机断层扫描，我们证明小颗粒（平均直径d = 120微米）比大颗粒（d = 4毫米）能在物体周围实现更高的贴合度，从而允许形成气密密封。当夹具被拉离时，模拟提起物体的过程，在夹具—物体界面的密封空腔中会产生真空压力。如果用作填充材料的颗粒过大，夹具便无法紧密贴合物体周围，在夹具膜与物体之间留下间隙。这些间隙阻止了物体与夹具之间形成密封真空腔，进而阻碍吸力机制发挥作用。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
