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An Underactuated Adaptive Microspines Gripper for Rough Wall.

Xinxin Li¹, Wenqing Chen¹, Xiaosong Li¹

¹Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China.

Biomimetics (Basel, Switzerland)

|January 17, 2023

Summary

This study introduces an underactuated bionic microspines gripper for versatile wall attachment. The gripper effectively adheres to rough and irregular surfaces, enabling applications in robotics and sampling.

Keywords:

bionic mechanism interfacial attachment microspines gripper under-actuated mechanism

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Area of Science:

Robotics and Bionics
Materials Science
Mechanical Engineering

Background:

Wall attachment is crucial for robotic grasping, transfer printing, and space exploration.
Existing grippers struggle with irregular and rough surfaces, limiting their applicability.

Purpose of the Study:

To develop a novel underactuated bionic microspines gripper for robust wall attachment.
To investigate the gripper's ability to adapt to diverse surface irregularities.

Main Methods:

Design and fabrication of an underactuated bionic microspines gripper.
Rigid-flexible coupling simulation analysis to understand adaptation mechanisms.
Experimental validation of attachment capabilities on various surfaces.

Main Results:

The gripper successfully adapts to submillimeter roughness and centimeter-scale irregularities.
Passive deformation of zigzag structures handles roughness; underactuation manages larger irregularities.
Demonstrated effective grasping of irregular rocks, tree trunks, and granite plates.

Conclusions:

The developed microspines gripper offers a dexterous and generally applicable solution for rough wall attachment.
Passive adaptation design enhances robotic grasping and sampling capabilities on challenging terrains.
This work advances the understanding and application of bionic wall attachment principles.