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Volume 104
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Santarossa, A., D’Angelo, O., Sack, A., & Pöschel, T. (2025). All-terrain granular gripper. Particuology, 104, 283-288. https://doi.org/10.1016/j.partic.2025.07.006
All-terrain granular gripper (Open Access)
Angel Santarossa a, Olfa D’Angelo a b, Achim Sack a, Thorsten Pöschel a *
a Institute for Multiscale Simulations, Friedrich-Alexander-Universität Erlangen-Nürnberg, Cauerstraße 3, Erlangen, D-91058, Bavaria, Germany
b Institut Supérieur de l'Aéronautique et de l'Espace ISAE-SUPAERO, 10 Av. Edouard Belin BP 54032, F-31055 Toulouse, France
10.1016/j.partic.2025.07.006
Volume 104, September 2025, Pages 283-288
Received 8 April 2025, Revised 30 May 2025, Accepted 7 July 2025, Available online 22 July 2025, Version of Record 28 July 2025.
E-mail: thorsten.poeschel@fau.de
Highlights

• Adaptive gripping enabled by the jamming transition in granular materials.

• Enhanced gripping through granulate-suction synergy, by integrating an independent suction cup within the gripper.

• The composition of the granulate affects the holding force, in particular the stiffness of the particles.


Abstract

Granular grippers can manipulate a wide variety of objects, but need to be pressed against the object to conform to it. If the object is placed on unstable ground, e.g., on sand or water, this step might cause the object to sink or move away from the gripper, hindering proper operation. We introduce a granular gripper with an integrated suction cup, where suction and jamming are controlled independently. We demonstrate the system’s robust and enhanced gripping capabilities by comparing its grasping performance with a typical granular gripper design. We show that the proposed device can grip objects that are challenging for typical granular grippers, including those placed on unstable ground, as the suction cup stabilizes the object, allowing the gripper to conform.

Graphical abstract
Keywords
All-terrain; Granular; Jamming; Suction; Granular gripper; Soft robotics
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