Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 34, Issue 2, Pages 303-316Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2017.2776312
Keywords
Bioinspiration; dry adhesives; grasping
Categories
Funding
- NASA [ESI NNX16AD19G]
- Army Research Laboratory's Micro Autonomous System and Technologies [MCE 15-4.4]
- Ford Motor Company: Bio-Inspired Adhesion for Manufacturing Aids
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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 shear-activated 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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