Parameter optimization of directional dry adhesives for robotic climbing and gripping applications

Ruffatto, Donald; Spenko, Matthew

doi:10.1109/icra.2012.6225173

Cited by 4 publications

(3 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…as they bend and flatten) when the adhesive is loaded, the deformation under load significantly affects the adhesion properties. This deformation is what gives the gecko its highly directional adhesion and is similarly responsible for the anisotropic [1] synthetic non-directional uniaxial: normal displacement control [7,33,34] biaxial: normal and shear displacement control [35] synthetic directional uniaxial: normal; full gripper displacement control [28,29] biaxial: range of angles; full gripper displacement control [30] biaxial: normal and shear; full gripper displacement control [31] biaxial: range of angles force control [36,37] biaxial: range of angles displacement control [38][39][40] uniaxial: shear displacement control [41][42][43][44][45] uniaxial: shear force control [46] biaxial: normal and shear displacement control [47][48][49][50][51] royalsocietypublishing.org/journal/rsif J. R. Soc. Interface 18: 20200730 behaviour of many synthetic bioinspired adhesives.…”

Section: Force-controlled Versus Displacement-controlled Testingmentioning

confidence: 99%

“…Development of an automated force-controlled test apparatus can retain the benefits of force testing while improving data quality and ease of adhesive characterization. Ruffatto et al have developed force-controlled test fixtures using pneumatics to apply controlled forces, including an apparatus to perform tests at specific angles on adhesives [36], and a uniaxial test apparatus to test adhesives in shear [46]. Although these investigations employ testing with applied forces, they do not present a generic force-controlled testing approach that spans the full range of possible loading conditions.…”

Section: Force-controlled Versus Displacement-controlled Testingmentioning

confidence: 99%

See 1 more Smart Citation

Forcing the issue: testing gecko-inspired adhesives

Suresh

Hajj‐Ahmad

Hawkes

et al. 2021

J. R. Soc. Interface.

View full text Add to dashboard Cite

Materials are traditionally tested either by imposing controlled displacements and measuring the corresponding forces, or by imposing controlled forces. The first of these approaches is more common because it is straightforward to control the displacements of a stiff apparatus and, if the material suddenly fails, little energy is released. However, when testing gecko-inspired adhesives, an applied force paradigm is closer to how the adhesives are loaded in practice. Moreover, we demonstrate that the controlled displacement paradigm can lead to artefacts in the assumed behaviour unless the imposed loading trajectory precisely matches the deflections that would occur in applications. We present the design of a controlled-force system and protocol for testing directional gecko-inspired adhesives and show that results obtained with it are in some cases substantially different from those with controlled-displacement testing. An advantage of the controlled-force testing approach is that it allows accurate generation of adhesive limit curves without prior knowledge of the expected behaviour of the material or the loading details associated with practical applications.

show abstract

Section: Force-controlled Versus Displacement-controlled Testingmentioning

confidence: 99%

Section: Force-controlled Versus Displacement-controlled Testingmentioning

confidence: 99%

Forcing the issue: testing gecko-inspired adhesives

Suresh

Hajj‐Ahmad

Hawkes

et al. 2021

J. R. Soc. Interface.

View full text Add to dashboard Cite

show abstract

“…Yet another technique used CNC machines to indent wax blocks with razor blades to increase the manufacturing throughput by fabricating large molds, on the order of tens of centimeters, or the workspace of a conventional CNC machine. [ 44 ] Finally, work was done to increase adhesion via curved stalk geometries; [ 45 ] however, only modest gains were achieved, and more complex structures are still unable to be manufactured because of difficulties removing the adhesives from their molds (see Figure ).…”

Section: Gecko‐like Adhesivesmentioning

confidence: 99%

Making Contact: A Review of Robotic Attachment Mechanisms for Extraterrestrial Applications

Spenko

2021

Advanced Intelligent Systems

Self Cite

View full text Add to dashboard Cite

For many applications, mobile robots must adhere to, grasp, or otherwise attach to external objects to manipulate or anchor to them. In space applications, these actions may take place during satellite grappling, orbital debris capture, perching, or sample extraction. In many of these cases, specialized attachment mechanisms have been proposed because of the unique challenges found in the space environment. Namely, many attachment mechanism technologies that work on Earth are not viable in space. For example, electromagnetism requires ferromagnetic materials, which are not commonly found in space structures; suction does not work because of a lack of an atmosphere; and pressure sensitive adhesives, such as tape, outgas in a vacuum. Instead, there are numerous other technologies that, for a variety of reasons, are more attuned to the space environment. This article presents a review of such technologies with a focus on bio-inspired fibrillar controllable adhesives (i.e., gecko-like, microstructured, or dry adhesives), electrostatic adhesives, and microspines.The article is organized as follows. Section 2 provides an overview of potential robotic applications in the space environment. Potential is key in this instancemost of the technologies described in this article are mature and have been tested thoroughly in simulated space environments, but the leap from experiments to deployment in real missions has yet to occur at scale or even at all. Reasons for this will be discussed throughout the article and in Section 6, which looks at future challenges in this field. Prior to that, Section 3 reviews gecko-like adhesives, and electrostatic adhesion is addressed in Section 4 followed by microspines in Section 5. Applications OverviewThis section details four applications for robotic attachment mechanisms in space and extraterrestrial use: 1) satellite and orbital debris capture, 2) perching drones for astronaut assistance and monitoring, 3) anchoring on asteroids and other rocky surfaces, and 4) climbing for planetary exploration.Following it are three sections that elaborate on the technologies. Satellite and Orbital Debris CaptureDue to the exorbitant cost of launching a satellite, it may be economically advantageous to capture and service satellites that have malfunctioned or are otherwise in need of repair. [1] This concept, that it could be more cost and time efficient to repair, refuel, and otherwise service satellites in space as opposed to launching a new satellite, has seen significant traction recently. [2] In addition, orbital debris is already an issue as there are an estimated 34 000 pieces larger than 20 cm in low Earth orbit that pose significant danger to operational satellites, [3,4] even those that use physical protection. [5] There have been several examples of satellites being lost to or suspected of being lost to orbital debris. [6] Furthermore, there have been at least 16 maneuvers,

show abstract