Table 1 Overview of various publications for the granulate influences on gripping forces for granular grippers with information regarding the used granulate as well as the experimental approach with the number of repetitions for each object (trial size) as well as number of investigated grasped object geometries (shape count)
Publication | Variation of Granulates | Experimental Approach/ Results | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|
Refs. | Author | Year | Size | Material type | Filling ratio | Other | Trial Size | Shape count | Std Dev | Max Force |
[22] | Amend et al. | 2012 | – | – | – | – | 10 | 7 | > 50% possible | Up to 20 N |
[17] | Nishida et al. | 2014 | – | Adzuki beans, Aromatic beads and Ground coffee | 20 to 80% | – | – | 1 | > 50% possible | Up to 30 N |
[23] | Amend et al. | 2016 | 12–20 mesh up to 60–100 mesh | – | – | – | – | 7 | – | Up to 90 N |
[24] | Meuleman et al. | 2017 | 2.5/ 4 mm | – | – | Matte/ Pol. glass | 9 | 1 | > 50% possible | Up to 10 N |
[25] | Alsakarneh et al. | 2018 | ‘Small and Big ‘ | Sawdust/ Coffee | – | Water Contents | 3 | 1 | up to 10% | < 1 N |
[26] | Fujita et al. | 2018 | – | – | 20 to 100% | – | 10 | 1 | > 50% possible | – |
[27] | Miettinen et al. | 2019 | 0.5—6 mm | Wood, Plastic, Sand, Rubber | – | – | Multiple | 6 | – | > 1000 N |
[28] | Howard et al. | 2021 | 3 sizes (3/ 5/ 7 mm) of 4 Grain Shapes | – | – | Grain shape | 5 | 4 | > 50% possible | Up to 15 N |
[9] | Goetz et al. | 2021 | 4/ 4.2 mm | Glas and Polystyrene | – | – | 6 | 1 | < 20% | Up to 20 N |
[12] | Santarossa et al. | 2022 | 120 µm/ 4 mm | – | – | – | 6 | 1 | > 50% possible | Up to 5 N |
[29] | Gomez–Paccapelo et al. | 2022 | 120 µ—2.5 mm | Polymer, Sand, Ceramic, Amaranth, Glass Small/ Large | – | – | 5 to 10 | 1 | < 5% | Up to 20 N |