Innovative adaptive industrial gripper

Abstract

This study presents the development and evaluation of an adaptive Universal Jamming Gripper (UJG) designed for industrial applications. The gripper employs a membrane filled with granular materials that transition between flexible and rigid states under vacuum pressure, enabling adaptive grasping of objects with diverse geometries. Various membrane fillings, including ground coffee, polystyrene microspheres (EPS), and thermoplastic elastomer granules (TPE), were tested to determine optimal grip stability. Experimental results demonstrated that the gripping force is significantly influenced by the object’s shape and the type of filling used, with EPS microspheres providing superior adaptability and stability. Performance tests on an industrial robotic arm confirmed the gripper’s effectiveness in handling objects of different sizes and shapes. The study highlights the advantages of adaptive grippers in enhancing automation flexibility, reducing downtime, and improving efficiency. Future research will focus on long-term durability, real-object testing, and integration with robotic systems to optimize industrial implementation.