Fixing Device for a Planar Object by Incorporating Jamming Transition Phenomenon and a Suction Unit

<div>Contacting condition of nonspherical grains and contact angle <svg height="9.49473pt" id="M27" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 6.70228 9.49473" width="6.70228pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M482 498C482 606 448 710 328 710C138 710 24 416 24 218C24 99 58 -12 184 -12C373 -12 482 294 482 498ZM395 521C395 483 391 449 383 395H128C158 537 226 671 312 671C388 671 395 566 395 521ZM375 342C348 190 284 25 192 25C128 25 109 116 109 199C109 243 112 292 121 342H375Z" id="g50-230"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="506" vert-adv-y="506"></glyph.data></g></svg>. (a) Contacting condition of spherical grain and (b) contacting condition of nonspherical grain.</div>

Journal of Robotics

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Figure 3

Figure 3: Fixing Device for a Planar Object by Incorporating Jamming Transition Phenomenon and a Suction Unit 