Design of a Liquid Jamming Gripper

We present the design of a universal gripper based on principle liquid jamming. The phase change behavior mineral oil subjected to cooling is used for adaptive gripping and release objects. enclosed in soft, compliant membrane molded into spherical shape. with easily adapts shape object be picked up. A thermoelectric system designed conductive spreader immersed quickly cool held membrane. Once conforms partially enclosing it, cooled below temperature, thus freezing hardening around effectively it. describe methodology gripper, part selection, mechanical design. proprietary controller developed by Venture Corporation controlling TEC module simple PID optimized using Ziegler–Nichols tuning P, I, D values. hardware evaluated basic functions different odd-shaped objects are demonstrated. An invention disclosure has been submitted NUS IP office (ILO).