Implementation of the Principle of Jamming for Hulk Gripper Remotely Controlled by Raspberry Pi

The Hulk Gripper has been constructed by replacing the fingers of a robotic hand with a mass filled with granular material, e.g., grounded coffee. This mass applies pressure on the article due to which the gripper adapts to the surface and engrosses it. Using the vacuum pump attached at the other end, air is pumped out making the granules contracted and hardened. It has been discovered that the volume change of approximately 0.5 is quite adequate to grab the object infallibly and lift them with a very large force. The ability of the granules to jam against each other in vacuum and unjam with air around is called as the principle of operation. The grip of the hand is based on three different mechanisms: friction, suction, and interlocking, which contributes to the engrossing force. With the help of all the mechanisms involved, it becomes possible in lifting heavy objects, exposing new prospects of design, with the ability to stand out quick engrossing of complicated objects. Our gripper is controlled mechanically with the help of radio frequencies. We are controlling the gripper with an android application. The mobile application will give commands to the microcontroller via Wi-Fi or Bluetooth, which in turn controls the movement of the gripper. The microcontroller being used turns the vacuum pump on and off. The existing gripper requires number of small and large joints which are to be controlled individually, in order to lift objects of different sizes, shapes, and delicacies whereas, our gripper uses a single point of contact to form the grip and do its task.