As the chameleon tongue swallows the food, it wraps the entrapped meat around the food, ensuring that it is completely enclosed and preventing it from falling off. Inspired by swallow behavior, this article introduces the design, manufacture, modeling, and experimentation of a variable stiffness swallowing gripper (VSSG). The VSSG is comprised of an intimal membrane, an adventitial membrane, and an internal medium of particles and liquid water. This gripper integrates swallowing behavior with a particle jamming mechanism, exhibiting both soft and rigid state. In the soft state, it gently swallows objects by folding its intimal and adventitial membranes. In the rigid state, the bearing capacity is enhanced by promoting particle jamming phenomenon through pumping out liquid water. Therefore, the proposed gripper has the capability to mitigate the issue of extrusion force applied on the object, while simultaneously enhancing the load-bearing capacity of swallowing gripper. In this article, the swallowing principle of the VSSG is analyzed, the mathematical model of the holding force and extrusion force is deduced, and preliminary experiments are carried out to verify the actual gripping effect of the gripper. The experimental results demonstrate that the VSSG can successfully swallow objects of different shapes in the soft state, exhibiting excellent flexibility and adaptability. The carrying capacity of the gripper in the rigid state increased approximately twofold compared with its soft state. In addition, several swallowing grippers with different filling medium were comparatively studied, and the results show that the VSSG has a large load-bearing capability.

中文翻译：

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基于粒子干扰的可变刚度仿生吞咽夹具。


当变色龙的舌头吞下食物时，它会将食物包裹住，确保食物完全封闭并防止其掉落。受吞咽行为的启发，本文介绍了可变刚度吞咽夹具 (VSSG) 的设计、制造、建模和实验。 VSSG 由内膜、外膜以及颗粒和液态水的内部介质组成。该夹具将吞咽行为与粒子干扰机制相结合，呈现出柔软和刚性状态。在柔软状态下，它通过折叠内膜和外膜轻轻地吞咽物体。在刚性状态下，通过抽出液态水促进颗粒堵塞现象，从而提高承载能力。因此，所提出的夹具能够减轻施加在物体上的挤压力问题，同时增强吞咽夹具的承载能力。本文分析了VSSG的吞咽原理，推导了夹持力和挤压力的数学模型，并进行了初步实验验证了机械手的实际抓取效果。实验结果表明，VSSG能够在柔软状态下成功吞咽不同形状的物体，表现出优异的灵活性和适应性。与软状态相比，刚性状态下的夹具的承载能力增加了大约两倍。此外，对几种不同填充介质的吞咽夹具进行了对比研究，结果表明VSSG具有较大的承载能力。