Underactuated Gecko Adhesive Gripper for Simple and Versatile Grasp

Hirano, Daichi; Tanishima, Nobutaka; Bylard, Andrew; Chen, Tony G.

doi:10.1109/icra40945.2020.9196806

Cited by 7 publications

(2 citation statements)

References 16 publications

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“…For instance, an under-actuated Gecko Adhesive Gripper has been presented in ref. [222] for simple and versatile grasping. In the approach, their purpose is to grasp a wide range of curved surfaces using a single actuator through a simple tendon-driven mechanism that attaches and adheres in one step.…”

Section: Gripping Approach (Grasping Mechanisms)mentioning

confidence: 99%

Comprehensive Review on Reaching and Grasping of Objects in Robotics

Mohammed¹,

Chua²,

Kwek³

2021

Robotica

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SUMMARY Interaction between a robot and its environment requires perception about the environment, which helps the robot in making a clear decision about the object type and its location. After that, the end effector will be brought to the object’s location for grasping. There are many research studies on the reaching and grasping of objects using different techniques and mechanisms for increasing accuracy and robustness during grasping and reaching tasks. Thus, this paper presents an extensive review of research directions and topics of different approaches such as sensing, learning and gripping, which have been implemented within the current five years.

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Section: Gripping Approach (Grasping Mechanisms)mentioning

confidence: 99%

Comprehensive Review on Reaching and Grasping of Objects in Robotics

Mohammed¹,

Chua²,

Kwek³

2021

Robotica

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“…Soft, pneumatically actuated grippers are capable of matching adhesive surfaces to an impressive array of shapes (12,17,18), but the use of highly compliant materials for many or all components of the hand limits the ability to controllably reorient objects due to insufficient grasp stiffness. In addition, adhesive films actuated over compliant, ribbed skeletons have been used to achieve shear loading while conforming to curved shapes without peeling (19,20), but these grippers do not conform to small, irregular objects or withstand substantial side loads. Further, neither the pneumatic grippers nor the film grippers have mechanisms to evenly distribute irregular shear loads that arise during use.…”

Section: Introductionmentioning

confidence: 99%

From grasping to manipulation with gecko-inspired adhesives on a multifinger gripper

2021

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Anthropomorphic robotic manipulators have high grasp mobility and task flexibility but struggle to match the practical strength of parallel jaw grippers. Gecko-inspired adhesives are a promising technology to span that gap in performance, but three key principles must be maintained for their efficient usage: high contact area, shear load sharing, and evenly distributed normal stress. This work presents an anthropomorphic end effector that combines those adhesive principles with the mobility and stiffness of a multiphalange, multifinger design. Adhesive suspensions use buckling ribs to deliver shear load sharing and normal compliance in a deployable form factor. We use an elastic foundation model and fundamentals of grasping theory to motivate kinematic changes when shifting from Coulomb friction to adhesive manipulation. These design considerations integrate with the necessary control infrastructure in a prototype called farmHand, on which we perform tests to confirm shear load sharing and demonstrate adhesive use in manipulation beyond pick and place grasping.

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Underactuated embedded constraints gripper for grasping in toxic environments

et al. 2023

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In this paper a soft gripper is proposed and designed to achieve some of the 17 Sustainable Development Goals (SDG) described by United Nations (UN) and in particular SDG3, SDG8, SDG 9 and SDG 12. In fact, the presented gripper is conceived for application in the waste industry for helping or partially replacing human operations which could lead to risks or hazards for human health. The device can artificially reproduce the action of human hands allowing a more sustainable work, focusing the attention on worker’s health. Also the design characteristics are oriented to sustainability by using eco-friendly materials. Furthermore, the device is an underactuated soft gripper with modular elements and without sensors. There are no electronic components, and the damageable and non-recyclable parts are minimized. After the description of gripper and mechanical analysis, three different configurations (wearable, with extension and mounted on a cobot) are presented where it is possible to notice that the ends of the gripper (the fingers) are far from the most delicate and less recyclable components such as the motor. Thus, thanks to the modularity of the fingers, it is easy to replace damaged fingers: they have a lower environmental impact than electronic components. In this way, the presented project falls in “the circular design for sustainability” in robotics.

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Underactuated Gecko Adhesive Gripper for Simple and Versatile Grasp

Cited by 7 publications

References 16 publications

Comprehensive Review on Reaching and Grasping of Objects in Robotics

Comprehensive Review on Reaching and Grasping of Objects in Robotics

From grasping to manipulation with gecko-inspired adhesives on a multifinger gripper

Underactuated embedded constraints gripper for grasping in toxic environments

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