Wedge-Jamming Mechanism for String Configuration
Wedge-Jamming Mechanism for String Configuration
This research proposes a wedge-jamming mechanism that integrates wedge-shaped contact surfaces into wire-based jamming structures to adjust holding characteristics against disturbances in different directions. Experimental results indicate that an out-wedge configuration improves resistance to vertical disturbances, while an in-wedge configuration enhances resistance to torsional disturbances, demonstrating that the anisotropic holding performance depends on wedge geometry.
The study introduces a wedge-jamming mechanism to anisotropically control resistance against vertical and torsional disturbances in wire-based robotic modules, with experimental validation provided by the authors.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Source：arXiv Robotics — research abstracts · arxiv.org