Redundant manipulator utilizing low permeability of micro-powders

-Pressure distribution characteristics based on the jamming transition and its application-

Abstract

Recently, robots are expected to replace human workers for the purpose of automation and reduction of workforce. However, in general, robot arms are composed of motors and rigid links, and their degrees of freedom depend on the number of motors, making it difficult for them to perform human-like movements. To approach this problem, we propose a flexible manipulator with a low time constant using the low permeability of the powder layer. In addition, we investigate and evaluate the pressure characteristics of the powder layer height and particle size by jamming and shifting the micro-powders filled in the elastic membrane. As a result, we confirmed the difference in manipulator deformation due to the low permeability of the powder layer. Furthermore, the smaller the particle size and the higher the height of the powder layer, the larger the pressure drop time difference.