A gecko-inspired soft passive gripper
Research output: Journal contributions › Journal articles › Research › peer-review
Authors
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.
| Original language | English |
|---|---|
| Article number | 12 |
| Journal | Biomimetics |
| Volume | 5 |
| Issue number | 2 |
| Number of pages | 15 |
| DOIs | |
| Publication status | Published - 01.06.2020 |
| Externally published | Yes |
Bibliographical note
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.
- Fluidic elastomer actuators, Gecko-inspired adhesive, Soft passive gripper, Soft robotics
- Engineering