A Gecko-Inspired Soft Passive Gripper
A Gecko-Inspired Soft Passive Gripper
复制标题
受壁虎启发的柔软被动夹具
作者：
A. Seibel;Mert Yıldız;And Berkan Zorlubaş
本文提出了一种软被动夹具，由六个以星形方式排列的流体软弯曲执行器组成。致动器的定向使得它们在加压时克服重力而弯曲。抓取是通过具有蘑菇形粘合结构的商业胶带实现的，该胶带粘在夹具的底部贴片上。这样，通过将执行器从物体表面剥离来释放物体。与在抓取和保持过程中需要持续加压的主动夹具相比，所提出的被动夹具仅在释放过程中需要能量。然而，由于其工作原理，夹具仅限于平坦物体或具有至少一个平坦表面的物体。
This paper presents a soft passive gripper consisting of six fluidic soft bending actuators arranged in a star-shaped manner. The actuators are oriented such that, upon pressurization, they bend against gravity. Gripping is realized by a commercial tape with mushroom-shaped adhesive structures that is glued to the bottom patches of the gripper. In this way, the object is released by peeling away the actuators from the object’s surface. In contrast to active grippers, which require continuous pressurization during gripping and holding, the presented passive gripper only requires energy for the release process. However, due to its working principle, the gripper is restricted to only flat objects or objects with at least one flat surface.