Development of A Jamming Gripper with Vacuum Function

Abstract

We propose a new gripper based on the jamming of granular material. In manufacturing fields, the gripping and holding of a wide range of objects such as not only objects with complex geometries but also flat objects are key tasks. In order to grip the flat objects by the gripper, we developed vacuum function for the jamming gripper. The paper describes the mechanical design, and the gripping performance with the various objects and durability performance of the developed gripper.