Mechanics of a pressure-controlled adhesive membrane for soft robotic gripping on curved surfaces
Mechanics of a pressure-controlled adhesive membrane for soft robotic gripping on curved surfaces
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DOI：
10.1016/j.eml.2019.100485
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发表时间：
2019-07-01
影响因子：
4.7
通讯作者：
Sitti, Metin
中科院分区：
文献类型：
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作者：
Song, Sukho;Drotlef, Dirk-M;Sitti, Metin
本文旨在了解柔性机器人在非平面曲面上夹持的压力控制黏附弹性薄膜的黏附机理。这种粘接弹性膜内衬壁虎启发的超细纤维阵列，可以通过控制内部空气压力来充气或放气。先前的研究表明，使用干胶粘剂的柔性机器人抓取器可重复粘附和转移打印各种非平面物体，并且具有高可靠性。在本研究中，我们进行了实验表征和理论分析，以更好地了解粘附弯曲物体的大小和形状对内部空气压力范围以及力分布的影响。此外，内部空气压力的降低会导致拉离力的增加，这与在各种曲面上拉离膜的夹持器缩回范围的变化有关。本文提出的处理复杂边界条件的近似解析模型可以提供对各种表面曲率和内部空气压力的拉脱力的定量估计，以及对中等压力差下力分布如何变化的定性理解。(C) 2019作者。Elsevier Ltd.出版。
This paper aims at understanding the adhesion mechanics of a pressure-controlled adhesive thin elastomeric membrane for soft robotic gripping on non-planar, curved surfaces. The adhesive elastic membrane is lined with gecko-inspired microfiber arrays and can be inflated or deflated by controlled internal air pressure. Previous studies with the soft robotic grippers using dry adhesives showed repeatable adhesion and transfer printing of various non-planar objects with high reliability. In this study, we perform experimental characterization and theoretical analysis to better understand the influence of size and shape of the adhering curved objects on the range of internal air pressures as well as the force profile. In addition, decrease in the internal air pressure results in an increased pull-off force associated with a change in the range of gripper retraction for pulling off the membrane on various curved surfaces. An approximate analytical model dealing with the complex boundary conditions presented in this paper can provide quantitative estimates of pull-off forces for a wide variety of surface curvatures and internal air pressures, as well as qualitative understanding of how force profiles change under moderate pressure differentials. (C) 2019 The Authors. Published by Elsevier Ltd.