A gecko-inspired soft passive gripper
Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
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in: Biomimetics, Jahrgang 5, Nr. 2, 12, 01.06.2020.
Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
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TY - JOUR
T1 - A gecko-inspired soft passive gripper
AU - Seibel, Arthur
AU - Yildiz, Mert
AU - Zorlubaş, Berkan
N1 - Funding Information: Acknowledgments: The authors thank Lars Schiller for his initial design of a toe structure of the gripper. The publication of this article was supported by the German Research Foundation (DFG) and Hamburg University of Technology (TUHH) in the funding programme “Open Access Publishing”. Publisher Copyright: © 2020 by the authors.
PY - 2020/6/1
Y1 - 2020/6/1
N2 - 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.
AB - 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.
KW - Fluidic elastomer actuators
KW - Gecko-inspired adhesive
KW - Soft passive gripper
KW - Soft robotics
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85087048906&partnerID=8YFLogxK
U2 - 10.3390/BIOMIMETICS5020012
DO - 10.3390/BIOMIMETICS5020012
M3 - Journal articles
AN - SCOPUS:85087048906
VL - 5
JO - Biomimetics
JF - Biomimetics
SN - 2313-7673
IS - 2
M1 - 12
ER -