Step #1: Background: How It WorksPrevNext
- This gripper works because of a process called "jamming". When a granular material — such as coffee — is compressed, it becomes very rigid. As the pressure increases, so does the amount of friction between the individual grains. This effectively locks the grains in place.
- You may have observed this phenomenon while handling bags of coffee grounds. A vacuum packed bag of coffee grounds is rock hard as long as the seal remains intact. But as soon as the seal is broken, the coffee becomes soft and pliable and can be poured like a fluid. This process happens with many granular materials, such as rice, couscous and even sand.
- We are using this process to make an amorphous robot gripper. A balloon filled with coffee grounds is attached to an air hose; when balloon is slightly pressurized the grounds are loose and easily rearranged. By pressing the balloon against an object, the grounds will move around it and take its shape. But when the air is sucked out of the balloon, the grounds are compressed and grip the object. The rubber surface of the balloon also helps to keep a hold on the object.
Step #2: Fill the Balloon With CoffeePrevNext
- The first thing that you need to do is fill the balloon with coffee grounds. To do this, attach the balloon to the end of a short tube or pipe, and insert the funnel into the other end. Scoop about a tablespoon of grounds into the funnel and it will pour down into the balloon. Then remove the funnel and blow into the tube to partially inflate the balloon. This will allow all the grounds to fall to the bottom of the balloon. As you slowly let the air back out, the grounds will remain trapped in the balloon. Then insert the funnel back into the tube and repeat the process.
- Continue adding coffee. Periodically, set the balloon inside the funnel to check its size. You want the balloon to stick out about one inch past the edge of the funnel. Once you have enough coffee grounds in the balloon, you can remove the balloon from the tube.
Step #5: Attach Fabric to the Opening of the BalloonPrevNext
- We want the coffee grounds to stay inside the balloon. To prevent them from falling out, I attached a small piece of fabric to the opening, to act as a rough filter. You want to use a fabric that breathes easily so that the air pump will be able to quickly move air in and out of the balloon.
- Tightly wrap the fabric around the opening of the funnel, then secure it in place with small strips of duct tape.
Step #7: Use the Universal Gripper to Pick Up ObjectsPrevNext
- Now you are ready to use your universal gripper to pick up objects. Start by partially inflating the balloon. This will make the grains loose so that they will freely move around the object. Then gently press the balloon on top of the object. Now suck the air out of the balloon. Continue pressing down on the object as the balloon deflates. The balloon will shrink and the grounds will lock in place around the object.
- When all the air is sucked out of the balloon, you should be able to pick up the object. As long as the vacuum is maintained, the universal gripper should continue to hold the object firmly. To release the object, simply break the seal and let some air back into the balloon; the object will then fall from the gripper. If you quickly blow air back into the balloon the gripper will forcefully eject the object. You can use this to shoot small objects across the room.
- This kind of gripper is ideal for pneumatically powered robots; all you have to do is hook the gripper up to the robot's air line and you will be able to manipulate a wide variety of objects with ease.