Compliant robotic devices, and electroadhesion

Monkman, Gareth J.

doi:10.1017/s0263574700007608

Cited by 40 publications

(36 citation statements)

References 3 publications

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“…These examples use primarily a normal force that is directed away from the object to lift it. Electrostatic adhesion requires much less pressing force to engage but provides limited adhesion that would require a very large piece and additional control infrastructures for large load applications [12], [13].…”

Section: Introductionmentioning

confidence: 99%

Grasping Without Squeezing: Design and Modeling of Shear-Activated Grippers

et al. 2018

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Abstract-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 shearactivated 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.

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Section: Introductionmentioning

confidence: 99%

Grasping Without Squeezing: Design and Modeling of Shear-Activated Grippers

et al. 2018

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“…Soft robotics [11,12] , especially when combined with artificial skins for distributed pressure and force sensing [11,13] , offer a path towards structures where the intrinsic compliance of elastomers allows for handling complex objects with simpler control thanks to passive adaptation. Early investigation on shape-adaptable grippers exploited a variety of technologies such as granule-filled bag from which air is evacuated [14] (now known as granular jamming [15] ), electrorheological (ER) fluids [16] , ER fluid with electroadhesion [17] , pneumatic actuators [18] , and shape memory foams [18] . Yet even for current soft robots, many tasks that are easy for human hands, such as handling flat objects and deformable objects, remains a major challenge.…”

mentioning

confidence: 99%

“…Early development also showed an end effector composed of a rigid flat substrate and an ER fluid encapsulated membrane [17] . Electroadhesion has many advantages over comparable adhesion technologies, such as vacuum or gecko-inspired adhesion.…”

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confidence: 99%

Versatile Soft Grippers with Intrinsic Electroadhesion Based on Multifunctional Polymer Actuators

et al. 2015

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“…However, this type of method is useful for removal of the polymer backing sheet from the pre-preg fiber (Sarhadi 1990). The device used by Sarhadi is basically a modified hackle (a spiked wheel) that, in conjunction with additional mechanisms, was originally intended for the ply separation of textile fabrics (Sarhadi 1987 (Hull 1981 (Hall 1989 (Monkman 1992a (Monkman 1992a Hull. ) been addressed (Monkman and Taylor 1990).…”

Section: Ingressive Grippersmentioning

confidence: 99%