입자 크기의 구성 비율에 따른 휨강성 최적화 가능성의 탐구
Optimality Investigation of Bending Stiffness According to Particle Size Distribution
0
조회
0
다운로드
1
인용
0
참고문헌
키워드
초록
As an interpretation of existing jamming effects, the main variables affecting the increase in stiffness due to jamming are known as system density, jamming density, pressure, and particulate temperature. The main variable, jamming density, is closely related to the distribution of particle size and contact properties such as particle shape and friction. However, the complexity of these variables makes it difficult to fully understand the mechanism of the jamming effect. In this paper, we focus on the jamming effects of particles that have more elastic properties than particles such as sand and coffee powder, which are commonly used as constituent particles of existing jamming, in order to reduce complicated factors such as temperature and concentrate on jamming effects based on elastic characteristics of particles. It was experimentally explored the possibility of increasing stiffness by mixing particles of different sizes rather than simply increasing the bending stiffness by controlling the particle size. Through simulations and experiments, we found a case where the stiffness of each particle size distribution is larger than the stiffness of each particle size.
Abstract
As an interpretation of existing jamming effects, the main variables affecting the increase in stiffness due to jamming are known as system density, jamming density, pressure, and particulate temperature. The main variable, jamming density, is closely related to the distribution of particle size and contact properties such as particle shape and friction. However, the complexity of these variables makes it difficult to fully understand the mechanism of the jamming effect. In this paper, we focus on the jamming effects of particles that have more elastic properties than particles such as sand and coffee powder, which are commonly used as constituent particles of existing jamming, in order to reduce complicated factors such as temperature and concentrate on jamming effects based on elastic characteristics of particles. It was experimentally explored the possibility of increasing stiffness by mixing particles of different sizes rather than simply increasing the bending stiffness by controlling the particle size. Through simulations and experiments, we found a case where the stiffness of each particle size distribution is larger than the stiffness of each particle size.
참고문헌 (14)
- M. Hannan, "Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots", Journal of Robotic Systems, 20(2), pp.45~63 (2003)
- C. Laschi, "Design of a biomimetic robotic octopus arm", Bioinspiration & Biomimetics, 4(1), pp.015006~ (2009)
- M. Cianchetti, "Design concept and validation of a robotic arm inspired by the octopus", Materials Science and Engineering : C, 31(6), pp.1230~1239 (2011)
- M. Manti, "Stiffening in soft robotics : a review of the state of the art", IEEE Robotics & Automation Magazine, 23(3), pp.93~106 (2016)
- T. Ranzani, "A soft modular manipulator for minimally invasive surgery : design and characterization of a single module", IEEE Transactions on Robotics, 32(1), pp.187~200 (2016)
- N. G. Cheng, "Design and analysis of a robust, low-cost, highly articulated manipulator enabled by jamming of granular media", IEEE International Conference on Robotics and Automation, pp.4328~4333 (2012)
- T. Majmudar, "Jamming transition in granular systems", Physical review letters, 98(5) (2007)
- E. Corwin, "Structural signature of jamming in granular media", Nature, 435(7045), pp.1075~1078 (2005)
- D. Chen, "Confined disordered strictly jammed binary sphere packings", Physical Review E, 92(6) (2015)
- J. Peters, "Characterization of force chains in granular material", Physical Review E, 72(4) (2005)
- A. Jiang, "Robotic granular jamming : Does the membrane matter?", Soft Robotics, 1(3), pp.192~201 (2014)
- E. Brown, "Universal robotic gripper based on the jamming of granular material", Proceedings of the National Academy of Sciences, 107(44), pp.18809~18814 (2010)
- R. C. Hidalgo, "Force chains in granular packings", Proceedings-International School Of Physics Enrico Fermi, 155, pp.153~172 (2004)
- A. G. Athanassiadis, "Particle shape effects on the stress response of granular packings", Soft Matter, 10(1), pp.48~59 (2014)