Abstract
The Hulk Gripper has been constructed by replacing the fingers of a robotic hand with a mass filled with granular material, e.g., grounded coffee. This mass applies pressure on the article due to which the gripper adapts to the surface and engrosses it. Using the vacuum pump attached at the other end, air is pumped out making the granules contracted and hardened. It has been discovered that the volume change of approximately 0.5 is quite adequate to grab the object infallibly and lift them with a very large force. The ability of the granules to jam against each other in vacuum and unjam with air around is called as the principle of operation. The grip of the hand is based on three different mechanisms: friction, suction, and interlocking, which contributes to the engrossing force. With the help of all the mechanisms involved, it becomes possible in lifting heavy objects, exposing new prospects of design, with the ability to stand out quick engrossing of complicated objects. Our gripper is controlled mechanically with the help of radio frequencies. We are controlling the gripper with an android application. The mobile application will give commands to the microcontroller via Wi-Fi or Bluetooth, which in turn controls the movement of the gripper. The microcontroller being used turns the vacuum pump on and off. The existing gripper requires number of small and large joints which are to be controlled individually, in order to lift objects of different sizes, shapes, and delicacies whereas, our gripper uses a single point of contact to form the grip and do its task.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Fink, A.: Universal gripper apparatus for robotic device. United States Patents (1986)
Birglen, L., Lalibert´e, T., Gosselin, C.: Under actuated robotic hands. Springer, Berlin, Germany (2008)
Esquivel, P., Jimenez, V.M.: Food Res. Int. 46(2) (2012)
Scott, P.B.: Omnigripper: a form of robot universal gripper. Robotics 3(3) Cambridge Journals, (1985)
Forcella, P.W., Meek, D.S., French, G.D.: Universal gripper assemble for frozen confections. United States patent (1976)
Harvey, I., Husbands, P., Cliff, D.: Issues in evolutionary robotics (1992)
O’Neil, J.P.: Drive mechanism for pick-and-place unit. United State Patents (1980)
Enck, W., Octeau, D., McDaniel, P., Chaudhary, S.: A study of android application security. In: USENIX Security Symposium (Aug 2011)
Brown, E., Rodenberg, N., Amend, J., Mozeika, A., Steltz, E., Zakin, M.R., Lipson, H., Jaeger, H.M.: Universal robotic gripper based on jamming of granular material, editorial board (2010)
Shabtai, A., Fledel, Y., Kanonov, U., Elovici, Y., Dolev, S., Glezer, C.: Google android: a comprehensive security assessment. IEEE Secur. Policy 8(2), 35–44 (2010)
Amend, Jr., J.R., Student member, IEEE, Brown, E., Rodenberg, N., Jaeger, H.M., Lipson, H., Member, IEEE: a positive pressure universal gripper based on the jamming of granular material. In: IEEE Transactions on Robotics, vol. 28, pp. 341–350 (Jan 2012)
Sniderman, A.: Automatic vacuum gripper. United States Patent (1988)
Sawdon, E.G., Krugar, D.J., Sprotberry, S.J.: Universal gripper. United States Patent (1998)
Corwin, E.I., Jaeger, H.M., Nagel, S.R.: Structural signature of jamming in granular media. Nature 435, 1075–1078 (2005)
Massa, B., Roccella, S., Carrozza, M.C., Dario, P.: Design and development of an underactuated prosthetic hand. Proc. IEEE Int. Conf. Rob. Autom. 4, 3374–3379 (2002)
Dollar, A.M., Howe, R.D.: Simple, robust autonomous grasping in Unstructured environ ments. In Proceedings of IEEE International Conference Robotic Automation, pp. 4693– 4700 (Apr 2007)
Paramanathan, A., Pahlevani, P., Thorsteinsson, S., Hundebøll, M., Lucani, D.E., Fitzek, F.H.P.: Sharing the pi. In: IEEE VTC Vehicular (2014)
Tella, R., Birk, J., Kelley, R.: A contour-adapting vacuum gripper. In: Pham T., Heginbotham, W.B. (eds.) Robot Grippers, pp. 86–100. Springer, New York (1986)
Jones, T.J., Duke, B.R.: Gripper and wrist joint for a robotic arm. United States Patent (1988)
Fikes, R.E., Hart, P.E., Nilsson, N.J.: Artificial intelligence. 3, 251–288 (1972)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer Science+Business Media Singapore
About this paper
Cite this paper
Seema Rawat, Praveen Kumar, Geetika Jain (2016). Implementation of the Principle of Jamming for Hulk Gripper Remotely Controlled by Raspberry Pi. In: Pant, M., Deep, K., Bansal, J., Nagar, A., Das, K. (eds) Proceedings of Fifth International Conference on Soft Computing for Problem Solving. Advances in Intelligent Systems and Computing, vol 436. Springer, Singapore. https://doi.org/10.1007/978-981-10-0448-3_16
Download citation
DOI: https://doi.org/10.1007/978-981-10-0448-3_16
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-10-0447-6
Online ISBN: 978-981-10-0448-3
eBook Packages: EngineeringEngineering (R0)