Design a shape-shifting robot gripper with granular material

In this paper، a new kind of gripper is designed. This universal gripper is proposed where different objects should be gripped easily، reliably within rapid succession without any feedback. By adding an annular balloon around the granular bag، a lateral force pushes the main membrane and increases the friction force between the bag and the load. According to the acquired test results reported in this paper، the modification on this new robotic gripping mechanism is effective and the success rate of the gripper is formulated considering the influential parameters and it can provide a good estimation for a gripper design.