A Soft Robotic Gripper With Gecko-Inspired Adhesive
A Soft Robotic Gripper With Gecko-Inspired Adhesive
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DOI：
10.1109/lra.2018.2792688
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发表时间：
2018-04-01
影响因子：
5.2
通讯作者：
Parness, Aaron
中科院分区：
文献类型：
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作者：
Glick, Paul;Suresh, Srinivasan A.;Parness, Aaron
之前的工作已经证明了使用简单控制输入的软机器人夹具的多功能性。然而，这些夹具在抓取大型物体和实现高强度抓取方面仍然面临挑战。这项工作研究了流体弹性体执行器和受壁虎启发的粘合剂的组合，以增强现有的软夹具性能并产生新的功能。在附着力有限的岩石或肮脏表面上，夹具保留了气动弹性体夹具的功能，而没有测量到性能损失。提出了利用受壁虎启发的粘合剂的独特性能的设计策略。通过将流体弹性体执行器建模为一系列具有相关关节扭矩的关节，我们设计了一种执行器，该执行器利用了受壁虎启发的粘合剂的独特性能。实验表明，与非壁虎执行器相比，在较低压力下的抓握强度更高，在许多情况下使抓手能够更快地驱动并使用更少的能量。该夹具重 48.7 克，使用 7.25 美元的原材料，可支撑超过 50 N 的负载。第二个夹具使用三个手指以获得更大的粘合表面，在 40 kPa 的内部压力下驱动时，其抓取力为 111 N (25 lbf)。
Previous work has demonstrated the versatility of soft robotic grippers using simple control inputs. However, these grippers still face challenges in grasping large objects and in achieving high-strength grasps. This work investigates the combination of fluidic elastomer actuators and gecko-inspired adhesives to both enhance existing soft gripper properties and generate new capabilities. On rocky or dirty surfaces where adhesion is limited, the gripper retains the functionality of a pneumatically actuated elastomer gripper with no measured loss in performance. Design strategies for using the unique properties of the gecko-inspired adhesives are presented. By modeling fluidic elastomer actuators as a series of joints with associated joint torques, we designed an actuator that takes advantage of the unique properties of the gecko-inspired adhesive. Experiments showed higher strength grasps at lower pressures compared to nongecko actuators, in many cases enabling the gripper to actuate more quickly and use less energy. The gripper weighs 48.7 g, uses $7.25 of raw materials, and can support loads of over 50 N. A second gripper, using three fingers for a larger adhesive surface, demonstrated a grasping force of 111 N (25 lbf) when actuated at an internal pressure of 40 kPa.