Grasping Without Squeezing: Design and Modeling of Shear-Activated Grippers
Grasping Without Squeezing: Design and Modeling of Shear-Activated Grippers
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DOI：
10.1109/tro.2017.2776312
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发表时间：
2018-04-01
影响因子：
7.8
通讯作者：
Cutkosky, Mark R.
中科院分区：
文献类型：
--
作者：
Hawkes, Elliot Wright;Jiang, Hao;Cutkosky, Mark R.
抓住太大而无法包住的物体，传统上是通过挤压产生的摩擦力来实现的。我们提出了一种剪切激活的抓取器家族，它可以在不需要挤压的情况下抓住这样的物体。当剪切力施加到我们的夹持器中的壁虎灵感材料上时，粘合就会打开；这种粘合反过来会导致粘合控制摩擦，一种取决于粘合而不是挤压法向力的摩擦力。剪切力的消除消除了粘附力，使物体容易释放。没有主动传感和控制的顺应性剪切式抓取器可以使用相同的轻触摸来举起柔软、易碎、易碎、轻便或非常重的物体。我们介绍了三个抓手，前两个设计用于弯曲的物体，第三个设计用于几乎任何形状。简单的模型描述了抓取过程，实证结果验证了模型的正确性。在各种形状、材料、大小和重量的物体上演示抓手。
Grasping objects that are too large to envelop is traditionally achieved using friction that is activated by squeezing. We present a family of shear-activated grippers that can grasp such objects without the need to squeeze. When a shear force is applied to the gecko-inspired material in our grippers, adhesion is turned on; this adhesion in turn results in adhesion-controlled friction, a friction force that depends on adhesion rather than a squeezing normal force. Removal of the shear force eliminates adhesion, allowing easy release of an object. A compliant shear-activated gripper without active sensing and control can use the same light touch to lift objects that are soft, brittle, fragile, light, or very heavy. We present three grippers, the first two designed for curved objects, and the third for nearly any shape. Simple models describe the grasping process, and empirical results verify the models. The grippers are demonstrated on objects with a variety of shapes, materials, sizes, and weights.