NDLI: Design of a tubular snake-like manipulator with stiffening capability by layer jamming

Content Provider	IEEE Xplore Digital Library
Author	Yong-Jae Kim Shanbao Cheng Sangbae Kim Iagnemma, K.
Copyright Year	2012
Description	Author affiliation: Massachusetts Institute of Technology (MIT), Cambridge, 02139, USA (Sangbae Kim; Iagnemma, K.) \|\| Samsung Advanced Institute of Technology, Ki-hung gu, Yong-in si., Kyunggi do, Rep. of Korea (Yong-Jae Kim) \|\| Direct Drive Systems, FMC Technologies, Fullerton, CA, 92833, USA (Shanbao Cheng)
Abstract	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.
Starting Page	4251
Ending Page	4256
File Size	2433528
Page Count	6
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385574
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Jamming Manipulators Joints Force Shape Films Vacuum systems
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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