English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

A granular gripper is a device used to hold objects by taking advantage ofthe phenomenon of Reynold's dilatancy. A membrane containing a granular sampleis allowed to deform around the object to be held and then vacuum is used tojam the granular material inside the membrane. This allows to hold the objectagainst external forces since deformation of the granular material is preventedby not allowing the system to increase its volume. The maximum holding forcesupported by the gripper depends on a number of variables. In this work, weshow that in the regime of frictional holding (where the gripper does notinterlock with the object), the maximum holding force does not depend on thegranular material used to fill the membrane. Results for a variety of granularmaterials can be collapsed into a single curve if maximum holding force isplotted against the penetration depth achieved. The results suggest that themost important feature in selecting a particular granular material is itsdeformability to ensure an easy flow during the initial phase of the grippingprocess.

Effect of the granular material on the maximum holding force of a granular gripper