Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
Jamming arms have a high degree of freedom, which is one of the main features of soft robots, and stiffness, which is one of the useful features of robot arms. Another useful feature of robot arms is a stretchable structure. However, soft arms with a highly stretchable structure are mainly inflatable arms, which has low stiffness. The goal of this research is to develop a stretchable jamming arm that has a high degree of freedom, stiffness, and stretchable ability. In this paper, we considered basic requirements for a stretchable jamming arm, adopted a grain jamming arm with a unique structure composed of skin and inner grain separately, and made a prototype of skin based on the consideration. The skin of the prototype performed nearly twenty times of stretchable ability.
