刚度变化快的机械手,附着力控制效率高

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
{"title":"刚度变化快的机械手,附着力控制效率高","authors":"Wenqing Chen, Tianhui Sun, Jingyang Li, Xiaosong Li, Lvzhou Li, Yonggang Meng and Yu Tian","doi":"10.1088/1361-665x/ad5a59","DOIUrl":null,"url":null,"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.","PeriodicalId":21656,"journal":{"name":"Smart Materials and Structures","volume":null,"pages":null},"PeriodicalIF":3.7000,"publicationDate":"2024-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Fast stiffness variation gripper with efficient adhesion control\",\"authors\":\"Wenqing Chen, Tianhui Sun, Jingyang Li, Xiaosong Li, Lvzhou Li, Yonggang Meng and Yu Tian\",\"doi\":\"10.1088/1361-665x/ad5a59\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":21656,\"journal\":{\"name\":\"Smart Materials and Structures\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":3.7000,\"publicationDate\":\"2024-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Smart Materials and Structures\",\"FirstCategoryId\":\"88\",\"ListUrlMain\":\"https://doi.org/10.1088/1361-665x/ad5a59\",\"RegionNum\":3,\"RegionCategory\":\"材料科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"INSTRUMENTS & INSTRUMENTATION\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Smart Materials and Structures","FirstCategoryId":"88","ListUrlMain":"https://doi.org/10.1088/1361-665x/ad5a59","RegionNum":3,"RegionCategory":"材料科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"INSTRUMENTS & INSTRUMENTATION","Score":null,"Total":0}
引用次数: 0

摘要

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。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Fast stiffness variation gripper with efficient adhesion control
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.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
Smart Materials and Structures
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.
期刊最新文献
Nonlinear vibration of a loaded string in energy harvesting Three-dimensional free-standing heterostructures out of MoS2 and rGO with infused PDMS towards electromechanical pressure sensing An IGBT coupling structure with a smart service life reliability predictor using active learning Shape optimization of a non-uniform piezoelectric bending beam for human knee energy harvester A frequency steerable electromagnetic acoustic transducer
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1