Robot Grippers for Use With Fibrous Materials

Monkman, Gareth J.

doi:10.1177/027836499501400204

Cited by 52 publications

(32 citation statements)

References 9 publications

(6 reference statements)

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“…Electroadhesion has been used in industry for several years in applications such as grippers [6], [7], clothing manufacturing [8], electrostatic chucks [9], [10], and in the last several years as an attachment method for climbing robots [5] and modular robots [11], [12]. Also, patents are held on the technology [15], [16], [17] and its application in several areas, including medical devices [18], climbing robots [19], grippers [20], or extension ladder stability devices [21].…”

Section: Introductionmentioning

confidence: 99%

Stretchable electroadhesion for soft robots

Germann

Schubert

Floreano

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-With the ongoing rise of soft robots there emerges a need for new technologies that can cope with hyper-flexibility and stretchability. In this paper, we describe a new method for enabling controllable adhesion, namely electroadhesion, for use in soft robots. We present a method to manufacture stretchable electroadhesive pads and characterize their performance when stretching the pad more than double its original length. Our results suggest that the normal detachment force per area slightly decreases with the stretching, while the shear detachment force per area increases with the stretch ratio. These results imply that stretchable electroadhesive pads have higher adaptivity than non-stretchable pads because their mechanical stiffness and adhesive forces can be controlled through stretching.

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Section: Introductionmentioning

confidence: 99%

Stretchable electroadhesion for soft robots

Germann

Schubert

Floreano

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…4 As such, the electroadhesion technology has been used by the researchers investigating mobile robots including climbing 5 and perching 6 robots and in end effectors for robotic material handling applications. 4,7,8 Electroadhesion is a dynamic electrostatic attraction phenomenon with over 33 variables influencing the interfacial electroadhesive forces obtainable between the two surfaces, 9 among which the applied voltage magnitude is one of the most dominating factors. The previous theoretical and simulation results have shown that the interfacial electroadhesive force is proportional to the square of the applied voltage.…”

mentioning

confidence: 99%

Experimental study of relationship between interfacial electroadhesive force and applied voltage for different substrate materials

Guo

Bamber

Petzing

et al. 2017

Applied Physics Letters

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An experimental investigation into the relationship between the interfacial electroadhesive force and applied voltage up to 20 kV has been presented. Normal electroadhesive forces have been obtained between a double-electrode electroadhesive pad and three optically flat and different substrate materials: glass, acrylic, and polycarbonate. The results have shown that not all substrate materials are good for the generation of electroadhesive forces. Only 15.7 Pa has been obtained between the pad and the polycarbonate substrate under 20 kV, whereas 46.3 Pa and 123.4 Pa have been obtained on the acrylic and glass substrate, respectively. Based on the experimental data, empirical models, with an adjusted R-square value above 0.995 in all cases, have been obtained for the three substrates. However, it has not been possible to develop a general empirical model which is suitable for all substrates. This further indicates the need for a large quantity of experimental data to obtain robust empirical models for different substrate materials in order to reliably use electroadhesive technologies for material handling applications.

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“…These types of grippers are also used to remove backing sheets from fibers [101]. Fortunately, most industrial ingressive grippers can adjust these variables to prevent damage to the material [102].…”

Section: Soft Fabric Grippersmentioning

confidence: 99%

State of the Art Robotic Grippers and Applications

et al. 2016

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Abstract:In this paper, we present a recent survey on robotic grippers. In many cases, modern grippers outperform their older counterparts which are now stronger, more repeatable, and faster. Technological advancements have also attributed to the development of gripping various objects. This includes soft fabrics, microelectromechanical systems, and synthetic sheets. In addition, newer materials are being used to improve functionality of grippers, which include piezoelectric, shape memory alloys, smart fluids, carbon fiber, and many more. This paper covers the very first robotic gripper to the newest developments in grasping methods. Unlike other survey papers, we focus on the applications of robotic grippers in industrial, medical, for fragile objects and soft fabrics grippers. We report on new advancements on grasping mechanisms and discuss their behavior for different purposes. Finally, we present the future trends of grippers in terms of flexibility and performance and their vital applications in emerging areas of robotic surgery, industrial assembly, space exploration, and micromanipulation. These advancements will provide a future outlook on the new trends in robotic grippers.

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Robot Grippers for Use With Fibrous Materials

Cited by 52 publications

References 9 publications

Stretchable electroadhesion for soft robots

Stretchable electroadhesion for soft robots

Experimental study of relationship between interfacial electroadhesive force and applied voltage for different substrate materials

State of the Art Robotic Grippers and Applications

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