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A Variable Stiffness Electroadhesive Gripper Based on Low Melting Point Alloys.
Chaoqun Xiang1,2, Wenyi Li1, Yisheng Guan1
1Jiangsu Provincial Key Laboratory of Special Robot Technology, Hohai University, Changzhou Campus, Changzhou 213022, China.
Polymers
|November 11, 2022
Summary
This study introduces a variable stiffness electroadhesive gripper (VSEAF) using low melting point alloys for enhanced load capacity. This innovation aims to improve soft robot applications and electroadhesion use.
Area of Science:
- Robotics
- Materials Science
Background:
- Electroadhesive grippers offer versatile material handling.
- Variable stiffness enhances gripper load capacity and strength.
Purpose of the Study:
- To propose a novel electroadhesive gripper (VSEAF) with variable stiffness.
- To demonstrate a simple construction using low melting point alloys (LMPAs) and pneumatic actuation.
Main Methods:
- Designed a three-fingered gripper with electroadhesive fingers.
- Incorporated resistance wires for active stiffness control.
- Utilized pneumatic driving for active form adaptation.
Main Results:
- The VSEAF design integrates variable stiffness functionality.
- Low melting point alloys enable simple construction and form adaptation.
- A case study demonstrated a three-fingered gripper with varied stiffness.
Conclusions:
- The developed VSEAF enhances electroadhesive gripper capabilities.
- This technology is expected to advance soft robot applications.
- It may increase the broader adoption of electroadhesion in robotics.
