期刊
SMART MATERIALS AND STRUCTURES
卷 30, 期 2, 页码 -出版社
IOP PUBLISHING LTD
DOI: 10.1088/1361-665X/abca51
关键词
gecko-inspired adhesives; electrostatic adhesion; gripping pad; manipulation; electrostatic actuation; microstructured adhesives; doped silicone rubber
资金
- Ford-Stanford Research Alliance
- Samsung Scholarship
This study introduces a hybrid electrostatic and gecko-inspired gripping pad for robots to lift and carry bulky objects, with a high effective coefficient of friction. The combination of electrostatic effects and gecko-inspired adhesion allows the pad to conform to non-smooth surfaces, providing higher shear forces.
We present hybrid electrostatic and gecko-inspired gripping pads that help robots to lift and carry bulky objects. The directional, gecko-inspired adhesive provides a controllable shear force with low normal force, providing a very high effective coefficient of friction so that items like bags full of groceries and heavy cardboard boxes can be lifted using only 1-2 N of squeezing force. The addition of electrostatics helps the pads to conform to non-smooth surfaces, providing substantially higher shear forces than with gecko-inspired adhesives alone. The electrostatic effect is enhanced by doping the silicone rubber adhesive material with calcium copper titanate (CCTO), except at the contacting faces of the adhesive microstructures, where a smooth surface finish is important for adhesion. We describe the multimaterial fabrication process used to create the new hybrid adhesive and present the results of robotic lifting experiments with non-smooth bulky items.
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