Soft particles reinforce robotic grippers: robotic grippers based on granular jamming of soft particles

Granular jamming has been identified as a fundamental mechanism for the operation of robotic grippers. In this work, we show, that soft particles like expanded polystyrene beads lead to significantly larger gripping forces in comparison to rigid particles. In contradiction to naive expectation, the combination of jamming and elasticity gives rise to very different properties of the jammed phase, compared to hard-particle systems. This may be of interest also beyond the application in robotic grippers.

Investigation into Mechanical Properties and Sliding Wear Behavior of Friction Stir Processed Surface Composite Material

One of the different and pioneering solid-state techniques, friction stir processing (FSP), is employed for the production of surface composites. In this research, the matrix selected was copper-nickel (CuNi) with hard boron carbide particle as reinforcement. The objective of the current research work is to produce reinforced 90/10 copper-nickel surface composites reinforced with B4C fabricated via FSP. The influence of tool rotational speed on macrostructure, microstructure, grain size analysis, microhardness, and wear studies of friction stir processed (FSPed) CuNi/B4C surface composites was assessed. For high rotational speed (1400 rpm) of stir tool, the modified surface area found is a maximum of 44.4 mm2 with uniform dispersion of hard particle reinforcement. The presence of hard particle in the surface area is revealed through the electron imaging and the spectroscopic results. Spectra mapping shows the uniform distribution of hard particle over the FSPed area, and the evidence is obtained with XRD analysis. From the experimentation, it is interesting to report that the reinforcements have decreased the surface hardness for an increased rotational speed of stir tool. The hardness recorded for minimum rotational speed is 223 HV which has gradually decreased to 178 HV for 1300 rpm. It has directly influenced the wear rate of modified FSPed, as hardness is directly proportional to wear behavior. The worn surface and fractured morphology of the CuNi/B4C surface composites were also studied using Field Emission Scanning Electron Microscope (FESEM).

Structural characterization and statistical properties of jammed soft ellipsoid packing

Using MRI techniques, random packing structures of soft ellipsoids are reconstructed, showing drastically different statistical properties compared with hard-particle packing.

Particle shape tunes fragility in hard polyhedron glass-formers

More tetrahedral particle shapes make less fragile hard particle glass-formers, as evidenced by the density-dependent slope of the log of relaxation time, s(ϕ/ϕC) ≡ ∂ log τα/∂(ϕ/ϕC).

A derivation of the Liouville equation for hard particle dynamics with non-conservative interactions

The Liouville equation is of fundamental importance in the derivation of continuum models for physical systems which are approximated by interacting particles. However, when particles undergo instantaneous interactions such as collisions, the derivation of the Liouville equation must be adapted to exclude non-physical particle positions, and include the effect of instantaneous interactions. We present the weak formulation of the Liouville equation for interacting particles with general particle dynamics and interactions, and discuss the results using two examples.

Embedding Behavior of Ceramic Particles in Babbitt Coatings and Its Effect on the Tribological Properties of Low-Pressure Cold Sprayed Coatings

The low melting point of Sn-based Babbitt alloys often causes nozzle clogging in the low-pressure cold gas-dynamic spraying (LPCGDS) process, which impacts the process steadiness and the coating quality. Adding hard particles to the feedstock material eliminates this kind of interruption. A certain amount of these particles finds their way in the obtained coatings. These particles also trigger a kind of “hammering effect” due to their impulse forces. These forces are directly dependent on the mass and velocity of the impacting hard particles. However, these forces may lead to a decrease in the porosity and improve the adhesion of the obtained coating. In this study, the effect of the density and size of the hard particle was examined by three different hard materials, Cr3C2, Al2O3, and B4C, which have a material density of 6.68, 3.95, and 2.52 g/cm3, respectively. The used feedstock in this study is a powder mixture that contains 75 vol.% Babbitt and 25 vol.% of either B4C, Cr3C2, or Al2O3. The effect of the size distributions “particles with lower mass” was tested using two different Al2O3. The various hard particles show different embedding behaviors, as well as different effects on the coating build-up. It was found that the blended hard particles were enclosed with the Babbitt matrix, and their interface with Babbitt shows no clear evidence of pronounced diffusion. The size distribution of the blended hard particles has a direct effect on the splat formation and the obtained coating microstructure. It was found that the type of hard particles played a decisive role in the friction behavior. Nevertheless, the hard particle reinforced Sn-Sb-Cu-based composite coatings demonstrated a nearly constant coefficient of friction throughout the load-interval.