A shape memory alloy-actuated gecko-inspired robotic gripper

Modabberifar, Mehdi; Spenko, Matthew

doi:10.1016/j.sna.2018.04.018

Cited by 46 publications

(24 citation statements)

References 16 publications

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“…Comparing with prior work 8 indicates a 15%, 2%, and 42% increase in normal adhesion when preload is less than 15 N and a 42%, 40%, and 70% increase in normal adhesion when the preload is between 15 N and 30 N for acrylic, glass, and carbon fiber, respectively. Compared to the aforementioned shape memory allow gripper, 12 the experiments results show a 100%, 78% , 76%, and 90% increase in normal adhesion when preload is less than 15 N and a 103%, 138%, 162% and 128% increase in normal adhesion when the preload is between 15 N and 30 N for steel, acrylic, glass, and carbon fiber, respectively. This translates to the ability to lift 3.3 kg flat sheets comprised of a variety of materials (glass, acrylic, steel and carbon fiber) using less than a 15 N preload.…”

Section: Resultsmentioning

confidence: 85%

“…To fabricate the gecko-like adhesive wedges, polydimethylsiloxane (PDMS, Dow Corning Sylgard 170, 184 and BJB Enterprise TC-5041) was prepared according to the manufacturer's specification and degassed in a vacuum chamber at 30 in.Hg until all air bubbles disappeared. PDMS material selection was based on previous work 8,12 and prior experience. Here, three PDMS materials were tested to illustrate and compare their effect on adhesion.…”

Section: Fabricationmentioning

confidence: 99%

“…To address these issues, a shape memory alloy-actuated gecko-inspired robotic gripper was presented in ref. [12], but the proposed gripper had a relatively high power consumption and low response time (due to the shape memory alloy wire cooling time) in comparison to similar grippers. Moreover, the shape memory allows wires, similar to tendons, loosen over time, thus requiring the gripper to be periodically re-calibrated.…”

Section: Introductionmentioning

confidence: 96%

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Development of a gecko-like robotic gripper using Scott–Russell mechanisms

Modabberifar

Spenko

2019

Robotica

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SummaryThis paper describes the development of a gecko-inspired robotic gripper for grasping flat objects using Scott–Russell mechanisms. Compared to previously reported grippers that utilize gecko-like adhesives, the one presented here produces higher normal adhesion and has robustness and controllability advantages. To verify the applicability of proposed gripper, a mechanical model and experimental results on a variety of substrates are presented. The experimental results demonstrated a 19.6% and 50% increase in normal adhesion using a preload of <15 and <30 N, respectively, compared to previously reported results under similar testing parameters and conditions.

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Section: Resultsmentioning

confidence: 85%

Section: Fabricationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 96%

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Development of a gecko-like robotic gripper using Scott–Russell mechanisms

Modabberifar

Spenko

2019

Robotica

Self Cite

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“…Although all of them have been demonstrated to be a valuable option in the manufacturing process due to their ultrasmooth features, it is difficult to know their exact chemical composition since their main applications refer to the manufacture of objects outside the scientific field. Nevertheless, polydimethylsiloxane (PDMS), commercially known as Sylgard 184, has been used in many research applications [41,44,[49][50][51][52] and allows not only the determination of its mechanical properties, such as high elasticity [53] and thermosetting [49], but also the mathematical modeling of its behavior with great precision by means of a finite element method (FEM) analysis. Another advantage that this material shares with some of the commonly used materials in soft robotics is the ability to cure at room temperature, which is key to simplifying the soft gripper modules' manufacturing process and reducing its cost.…”

Section: Methodsmentioning

confidence: 99%

Diaphragm-Type Pneumatic-Driven Soft Grippers for Precision Harvesting

et al. 2021

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Soft actuator technology and its role in robotic manipulation have been rapidly gaining ground. However, less attention has been given to the potential advantages of its application to the agricultural sector, where soft robotics may be a game changer due to its greater adaptability, lower cost and simplicity of manufacture. This article presents a new design approach for soft grippers based on modules that incorporate the concept of bellows and combine it with the versatility and replicability of a 3D printed structure. In this way, the modules can be freely configured to obtain grippers adaptable to crops of different diameters. Furthermore, the definition of a method to determine the soft grippers features is also presented, with the aim of serving as the basis for a future benchmarking study on soft actuators. The experimental tests carried out demonstrated the feasibility and capability of the end-effectors to manipulate various fruits, ensuring a sufficient contact area for the safe handling of the targets and avoiding damaging the products.

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“…Replacing the entire drive and transmission parts of the original gripper with the series-connected shape memory alloy wire not only greatly reduces the size of the gripper, but also improves the uniformity of the load on the adhesive pads. At the same time, it also enables the gripper to quantitatively apply tangential preload by adjusting the input voltage, thereby realizing quantitative control of normal adhesion [146]. Although the gripper based on shape memory alloy wire has comparable adhesive capacity to the original gripper, the high thermal hysteresis characteristic of the shape memory alloy wire significantly affects the efficiency of the gripper in the pick-and-place operation, and it also has the same problem of slackness as the tendon.…”

Section: Robot Grippersmentioning

confidence: 99%

Gecko-Like Dry Adhesive Surfaces and Their Applications: A Review

2021

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Gecko has the ability to climb flexibly on various natural surfaces because of its fine layered adhesion system of foot, which has motivated researchers to carry out a lot of researches on it. Significant progresses have been made in the gecko-like dry adhesive surfaces in the past 2 decades, such as the mechanical measurement of adhesive characteristics, the theoretical modeling of adhesive mechanism and the production of synthetic dry adhesive surfaces. Relevant application researches have been carried out as well. This paper focuses on the investigations made in recent years on the gecko-like dry adhesive surfaces, so as to lay the foundation for further research breakthroughs. First, the adhesion system of gecko’s foot and its excellent adhesive characteristics are reviewed, and the adhesive models describing the gecko adhesion are summarily reviewed according to the different contact modes. Then, some gecko-like dry adhesive surfaces with outstanding adhesive characteristics are presented. Next, some application researches based on the gecko-like dry adhesive surfaces are introduced. Finally, the full text is summarized and the problems to be solved on the gecko-like dry adhesive surfaces are prospected.

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A shape memory alloy-actuated gecko-inspired robotic gripper

Cited by 46 publications

References 16 publications

Development of a gecko-like robotic gripper using Scott–Russell mechanisms

Development of a gecko-like robotic gripper using Scott–Russell mechanisms

Diaphragm-Type Pneumatic-Driven Soft Grippers for Precision Harvesting

Gecko-Like Dry Adhesive Surfaces and Their Applications: A Review

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