hh.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Design of a tubular snake-like manipulator with stiffening capability by layer jamming
Samsung Advanced Institute of Technology, Kyunggi do, Ki-hung gu, Yong-in si, South Korea.
Direct Drive Systems, FMC Technologies, Fullerton, CA 92833, United States.
MIT.
MIT.
2012 (English)In: Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, Piscataway, N.J.: IEEE Press, 2012, 4251-4256 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper introduces a new mechanism for achieving tunable stiffness, named layer jamming, and presents a hollow snake-like manipulator having tunable stiffness capability. The layer jamming mechanism is composed of multiple layers of thin Mylar film, and makes use of amplified friction between the films by applying vacuum pressure. In contrast to other tunable stiffness technology, such as particle jamming or field-activated materials (MR or ER fluids), layer jamming occupies a small volume and thus can be applied to small, light weight manipulators. The snake-like manipulator presented here is composed only of Mylar film and wires, and has highly flexible and under-actuated properties without application of a vacuum; however, it becomes highly stiff when a vacuum is applied. In this paper the characteristics of layer jamming are explored: its stiffness and breaking strength are obtained both theoretically and experimentally, and a prototype manipulator is developed and experimentally characterized. © 2012 IEEE.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2012. 4251-4256 p.
Series
IEEE International Conference on Intelligent Robots and Systems. Proceedings, ISSN 2153-0858
Keyword [en]
Films, Force, Jamming, Joints, Manipulators, Shape, Vacuum systems
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20833DOI: 10.1109/IROS.2012.6385574Scopus ID: 2-s2.0-84872359532ISBN: 978-146731737-5 OAI: oai:DiVA.org:hh-20833DiVA: diva2:586700
Conference
25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve Portugal, 7-12 October, 2012
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2013-02-21Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Iagnemma, Karl
Robotics

Search outside of DiVA

GoogleGoogle Scholar

Altmetric score

Total: 136 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf