An Adaptive Granular Jamming-Based Fixture for Hybrid Additive–Subtractive Robotic Manufacturing of Composite Parts

Hybrid additive-subtractive robotic manufacturing enables flexible production but introduces challenges in part fixation between process stages. In particular, additively manufactured components are often insufficiently constrained to withstand machining forces, especially in small-batch or geometry-variable scenarios. This work presents a granular jamming-based adaptive fixture designed to provide geometry-agnostic and rigid clamping within a hybrid robotic cell. The system integrates deformable vacuum-actuated elements with a robot-manipulable mechanism, enabling automated deployment and fixation. The proposed solution is experimentally validated through force-displacement tests on multiple geometries and granular media. Results demonstrate consistent fixation performance, with stiffness primarily influenced by part geometry and particle characteristics.