An Underactuated Adaptive Microspines Gripper for Rough Wall

Li, Xinxin; Chen, Wenqing; Li, Xiaosong; Hou, Xin; Zhao, Qian; Meng, Yonggang; Tian, Yu

doi:10.3390/biomimetics8010039

Cited by 4 publications

(3 citation statements)

References 28 publications

(35 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Insects enhance their surface adhesion capability by utilising the friction generated by the interlocking of claws. Inspired by the claws of the rhinoceros beetle (Phileurus didymus), Li et al proposed an underactuated adaptive bionic micro-spines gripper with a flexible structure and an underdriven linkage mechanism that allows it to effectively attach to the rough walls of flat and curved objects [18].…”

Section: Biomimetic Mechanismmentioning

confidence: 99%

Design of an actuator with bionic claw hook–suction cup hybrid structure for soft robot

Wang,

Lin,

Yuan

et al. 2024

Bioinspir. Biomim.

View full text Add to dashboard Cite

To improve the adaptability of soft robots to the environment and achieve reliable attachment on various surfaces such as smooth and rough, this study draws inspiration from the collaborative attachment strategy of insects, cats, and other biological claw hooks and foot pads, and designs an actuator with a bionic claw hook-suction cup hybrid structure. The rigid biomimetic pop-up claw hook linkage mechanism is combined with a flexible suction cup of a "foot pad" to achieve a synergistic adhesion effect between claw hook locking and suction cup adhesion through the deformation control of a soft pneumatic actuator. A pop-up claw hook linkage mechanism based on the principle of cat claw movement was designed, and the attachment mechanism of the biological claw hooks and footpads was analysed. An artificial muscle-spring-reinforced flexible pneumatic actuator (SRFPA) was developed and a kinematic model of the SRFPA was established and analysed using Abaqus. Finally, a prototype of the hybrid actuator was fabricated. The kinematic and mechanical performances of the SRFPA and entire actuator were characterized, and the attachment performance of the hybrid actuator to smooth and rough surfaces was tested. The results indicate that the proposed biomimetic claw hook-suction cup hybrid structure actuator is effective for various types of surface adhesion, object grasping, and robot walking. This study provides new insights for the design of highly adaptable robots and biomimetic attachment devices.

show abstract

Section: Biomimetic Mechanismmentioning

confidence: 99%

Design of an actuator with bionic claw hook–suction cup hybrid structure for soft robot

Wang,

Lin,

Yuan

et al. 2024

Bioinspir. Biomim.

View full text Add to dashboard Cite

show abstract

“…Furthermore, the concepts of lock and hook mechanisms have been applied to design grippers with characteristics similar to bees [ 249 ], beetles [ 250 ] (see Figure 10 a), and ants [ 251 , 252 , 253 ]. These grippers feature fingers equipped with small hooks, allowing them to attach to surfaces.…”

Section: Animal-inspired Grippersmentioning

confidence: 99%

“… B-I grippers based on hooking and locking mechanism mimicking different animals: ( a ) beetle-leg-inspired gripper [ 250 ] (© MDPI Biomimetics Volume 8 Issue 1 ), and ( b ) lobster-jaw-inspired gripper [ 254 ] (© 2021 Frontiers ). …”

Section: Figurementioning

confidence: 99%

Bioinspiration and Biomimetic Art in Robotic Grippers

Nguyen,

Dhyan,

Mai

et al. 2023

Micromachines

View full text Add to dashboard Cite

The autonomous manipulation of objects by robotic grippers has made significant strides in enhancing both human daily life and various industries. Within a brief span, a multitude of research endeavours and gripper designs have emerged, drawing inspiration primarily from biological mechanisms. It is within this context that our study takes centre stage, with the aim of conducting a meticulous review of bioinspired grippers. This exploration involved a nuanced classification framework encompassing a range of parameters, including operating principles, material compositions, actuation methods, design intricacies, fabrication techniques, and the multifaceted applications into which these grippers seamlessly integrate. Our comprehensive investigation unveiled gripper designs that brim with a depth of intricacy, rendering them indispensable across a spectrum of real-world scenarios. These bioinspired grippers with a predominant emphasis on animal-inspired solutions have become pivotal tools that not only mirror nature’s genius but also significantly enrich various domains through their versatility.

show abstract

Intelligent Rock‐Climbing Robot Capable of Multimodal Locomotion and Hybrid Bioinspired Attachment

Zi,

Xu,

Chen

et al. 2024

Advanced Science

View full text Add to dashboard Cite

Rock‐climbing robots have significant potential in fieldwork and planetary exploration. However, they currently face limitations such as a lack of stability and adaptability on extreme terrains, slow locomotion, and single functionality. This study introduces a novel multimodal and adaptive rock‐climbing robot (MARCBot), which addresses these limitations through spiny grippers that draw inspiration from morpho‐functionalities observed in beetles, arboreal birds, and hoofed animals. This hybrid bioinspired design enables high attachment strength, passive adaptability to different terrains, and quick attachment on rock surfaces. The multimodal functionality of the gripper allows for attachment during climbing and support during walking. A novel control strategy using dynamics and quadratic programming (QP) optimizes attachment wrench distribution, reducing cost‐of‐transport by 20.03% and 6.05% compared to closed‐loop inverse kinematic (CLIK) and virtual model control (VMC) methods, respectively. MARCBot achieved climbing speeds of 0.15 m min−1 on a vertical discrete rock surface under gravity and trotting speeds of up to 0.21 m s−1 on various complex terrains. It is the first robot capable of climbing on rock surfaces and trotting in complex terrains without the need for switching end‐effectors. This study highlights significant advancements in climbing and multimodal locomotion for robots in extreme environments.

show abstract

An Underactuated Adaptive Microspines Gripper for Rough Wall

Cited by 4 publications

References 28 publications

Design of an actuator with bionic claw hook–suction cup hybrid structure for soft robot

Design of an actuator with bionic claw hook–suction cup hybrid structure for soft robot

Bioinspiration and Biomimetic Art in Robotic Grippers

Intelligent Rock‐Climbing Robot Capable of Multimodal Locomotion and Hybrid Bioinspired Attachment

Contact Info

Product

Resources

About