Wedge-Jamming Mechanism for String Configuration
Overview
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.
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- arXiv Robotics — research abstractsSignalWedge-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.
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