Modelling and Simulation of a Liquid Jamming Gripper

Seminar Details

Speaker Madan Pushpakath
Date & Time 12 May, 2023 @ 12:00 pm
Venue ARC Engagement Room (E6-07-04)


This seminar continues from where the previous seminar on the design of a liquid jamming gripper left off. In this seminar, learn about how the liquid jamming system was modelled and simulated.


Box lunch will be arranged.

Please register by 11 May, 12 noon at:



Modeling of a liquid jamming system involves modeling the Peltier behavior, thermoelectric modeling of the cooling system, heat transfer behavior of the jamming liquid and the control system. An analytical solution to the problem is challenging due to the temperature dependence of Peltier parameters and nonlinear behavior of the system. An alternate approach using numerical methods and model fitting is described, which provides an excellent match with the measurements and offers a method to predict and optimize the design and performance of the jammer. Excel solver is used for optimization which gives fast and efficient results and gives good match between model and measurements. An incremental or positional PID control is integrated to the model which can be used for testing or optimizing the jammer behavior.


About Madan Pushpakath

Madan Pushpakath is a Senior R&D Manager at Venture Corporation Limited, a company headquartered in Singapore with established capabilities to develop a wide range of leading-edge products and a global provider of technology services, products, and solutions.

He obtained his Masters in Mechanical Engineering from the Indian Institute of Technology, Madras, India and worked as a Control system scientist with the Indian Space research Organization (ISRO) for more than 10 years before moving to Singapore.

Madan led the “Dynamics” group at Philips Optical Storage in Singapore responsible for the design and development of DVD read and recording actuators and drives before joining Venture Corporation.

Currently he is leading and managing multiple projects related to complex leading-edge life science instruments from concept design to mass production. He is also pursuing a PhD under the supervision of Prof Ang Marcelo at the National University of Singapore (NUS)

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