Fast stiffness variation gripper with efficient adhesion control

IF 3.7 3区材料科学 Q1 INSTRUMENTS & INSTRUMENTATION Smart Materials and Structures Pub Date : 2024-07-01 DOI:10.1088/1361-665x/ad5a59

Wenqing Chen, Tianhui Sun, Jingyang Li, Xiaosong Li, Lvzhou Li, Yonggang Meng and Yu Tian

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引用次数: 0

Abstract

The mushroom-shape gecko-inspired adhesive has been extensively studied and applied in a wide range of fields. However, current research primarily focuses on enhancing its adhesion properties, necessitating further exploration in strategies of detachment and adaptation, which significantly constrain its practical applications. In this study, a stiffness variable gripper with controllable adhesion and fast response is developed by integrating mushroom-shape adhesive with granular jamming technology. A theoretical model for the detachment of the gripper is established, indicating the effect of backing stiffness on adhesion performance, which is verified through contact area observations and adhesion experiments. The proposed modulation method demonstrates an impressive adhesion-to-detachment ratio of 92.8, with adhesion capacity of up to 41.023 N and detachment force of only 0.442 N. The switch time is remarkably fast at just 0.5 s. Additionally, the designed gripper, under pressure difference of 60 kPa, is able to stably grasp smooth objects with various shapes weighing over 2 kg, with a load-to-weight ratio of approximately 8, and a minimal power consumption of only 4.404 W. The work here presents a comprehensive understanding of adhesion modulation of fibrillar adhesive through granular jamming, and provides new insights into robust reversible adhesion design for related technologies.

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刚度变化快的机械手，附着力控制效率高

蘑菇形状的壁虎启发粘合剂已被广泛研究并应用于多个领域。然而，目前的研究主要集中在增强其粘附性能上，需要进一步探索脱离和适应策略，这极大地限制了其实际应用。本研究通过将蘑菇形粘合剂与颗粒干扰技术相结合，开发了一种具有可控粘附性和快速响应性的刚度可变机械手。研究建立了机械手脱离的理论模型，指出了背衬硬度对粘附性能的影响，并通过接触面积观察和粘附实验验证了这一理论。所提出的调制方法显示出 92.8 的惊人粘附脱离比，粘附力高达 41.023 N，而脱离力仅为 0.442 N。此外，所设计的机械手在 60 kPa 的压差条件下，能够稳定地抓取重量超过 2 kg 的各种形状的光滑物体，负载重量比约为 8，功耗仅为 4.404 W。这项工作全面介绍了通过颗粒干扰对纤维粘合剂进行粘附调制的原理，并为相关技术的稳健可逆粘附设计提供了新的见解。

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来源期刊

Smart Materials and Structures 工程技术-材料科学：综合

CiteScore

7.50

自引率

12.20%

发文量

317

审稿时长

3 months

期刊介绍： Smart Materials and Structures (SMS) is a multi-disciplinary engineering journal that explores the creation and utilization of novel forms of transduction. It is a leading journal in the area of smart materials and structures, publishing the most important results from different regions of the world, largely from Asia, Europe and North America. The results may be as disparate as the development of new materials and active composite systems, derived using theoretical predictions to complex structural systems, which generate new capabilities by incorporating enabling new smart material transducers. The theoretical predictions are usually accompanied with experimental verification, characterizing the performance of new structures and devices. These systems are examined from the nanoscale to the macroscopic. SMS has a Board of Associate Editors who are specialists in a multitude of areas, ensuring that reviews are fast, fair and performed by experts in all sub-disciplines of smart materials, systems and structures. A smart material is defined as any material that is capable of being controlled such that its response and properties change under a stimulus. A smart structure or system is capable of reacting to stimuli or the environment in a prescribed manner. SMS is committed to understanding, expanding and dissemination of knowledge in this subject matter.