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A Gecko-Inspired Soft Passive Gripper.

Arthur Seibel1, Mert Yıldız1, And Berkan Zorlubaş1

  • 1Workgroup on System Technologies and Engineering Design Methodology, Hamburg University of Technology, 21073 Hamburg, Germany.

Biomimetics (Basel, Switzerland)
|March 29, 2020
PubMed
Summary
This summary is machine-generated.

This study introduces a novel soft passive gripper using fluidic actuators and adhesive tape for gripping. It offers energy-efficient holding but is limited to flat objects.

Keywords:
fluidic elastomer actuatorsgecko-inspired adhesivesoft passive grippersoft robotics

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Traditional robotic grippers often require continuous energy for actuation and holding.
  • Soft grippers offer compliant manipulation but can be complex to design and control.
  • Adhesive-based gripping presents an alternative but often requires active release mechanisms.

Purpose of the Study:

  • To present a novel soft passive gripper design.
  • To demonstrate an energy-efficient gripping and release mechanism for flat objects.
  • To explore the application of adhesive structures in soft robotics.

Main Methods:

  • A soft passive gripper was designed with six fluidic soft bending actuators in a star configuration.
  • Commercial tape with mushroom-shaped adhesive structures was integrated for object adhesion.
  • The gripper's operation relies on actuator bending against gravity and adhesive peeling for release.

Main Results:

  • The passive gripper achieves gripping without continuous energy input for holding.
  • Object release is facilitated by peeling the actuators away from the surface.
  • The gripper's functionality is demonstrated to be effective for flat objects or those with flat surfaces.

Conclusions:

  • The developed soft passive gripper offers a low-energy solution for handling flat objects.
  • The integration of adhesive tape provides a unique release mechanism.
  • Further research could explore expanding the gripper's applicability to non-flat objects.