A Gecko-Inspired Soft Passive Gripper

This paper presents a soft passive gripper consisting of six fluidic soft bending actuators arranged in a star-shaped manner. The actuators are oriented such that, upon pressurization, they bend against gravity. Gripping is realized by a commercial tape with mushroom-shaped adhesive structures that is glued to the bottom patches of the gripper. In this way, the object is released by peeling away the actuators from the object’s surface. In contrast to active grippers, which require continuous pressurization during gripping and holding, the presented passive gripper only requires energy for the release process. However, due to its working principle, the gripper is restricted to only flat objects or objects with at least one flat surface.

Subjects

soft robotics

fluidic elastomer actuators

soft passive gripper

gecko-inspired adhensive

DDC Class

530: Physik

600: Technik

Funding(s)

Publikationsfonds 2020

Lizenz

https://creativecommons.org/licenses/by/4.0/

Name

biomimetics-05-00012.pdf

Size

9.7 MB

Format

Adobe PDF

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A Gecko-Inspired Soft Passive Gripper