Experimental assessment and prediction of design parameter influences on a specific vacuum-based granular gripper

ROBOMECH Journal

Table 3 Overview of influences on the grippability

Parameter	Influence	Comments
Granulate Size	Limited influence	Larger values for C_combined are possible merely with larger granulate
Granulate Material	Major influence only for silicone and steel granulate	Effects are only visible for a small spectrum of objects
Granulate Volume	Major influence	Especially the far ends of the filling ratios are only viable for a small number of objects
Arrangement of the Membrane Perm. Zone	Limited influence	Especially an arrangement in an outer ring appears unadvisable
Size of the Membrane Perm. Zone	Limited influence	No direct correlations between size of permeability zone and achievable gripping force are determinable
Membrane Material	Major influence	Varying advantages of elastic and stiff membrane materials are discernible