Journal
ROBOTICA
Volume 38, Issue 3, Pages 541-549Publisher
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0263574719000833
Keywords
Gecko-like adhesion; Scott-Russell mechanism; Robotic gripper
Categories
Funding
- NASA Office of Chief Technologist's Space Technology [NNX11AN31H]
- NASA SBIR [NNX15CP47P]
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This paper describes the development of a gecko-inspired robotic gripper for grasping flat objects using Scott-Russell mechanisms. Compared to previously reported grippers that utilize gecko-like adhesives, the one presented here produces higher normal adhesion and has robustness and controllability advantages. To verify the applicability of proposed gripper, a mechanical model and experimental results on a variety of substrates are presented. The experimental results demonstrated a 19.6% and 50% increase in normal adhesion using a preload of <15 and <30 N, respectively, compared to previously reported results under similar testing parameters and conditions.
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