1. Force limits and layout design.
Force limits and layout design. (A) Limit surface for a single flat gripper unit represents maximum pulling forces in each direction. (B) Two-dimensional force limit curve for flexible film on a curved surface. (C) Radial layout with 20 flat gripper units is limited by units in blue dashed ovals. Red shading represents percentage of each unit’s maximum load. (D) Rectangular layout: All units contribute equally and overall limit surface is isomorphic to (A). (E) Ellipsoidal fits to limit surfaces for radial and rectangular layouts. Dots correspond to the load limits for blue and cyan vectors in (C) and (D).
Hao Jiang et al. Sci. Robotics 2017;2:eaan4545
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