Grasping without squeezing: Shear adhesion gripper with fibrillar thin film

Elliot W. Hawkes, David L. Christensen, Amy Kyungwon Han, Hao Jiang, Mark R. Cutkosky
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
Nearly all robotic grippers have one trait in common: they grasp objects with normal forces, either directly, or indirectly through friction. This method of grasping is effective for objects small enough for a given gripper to partially encompass. However, to grasp larger objects, significant grip forces and a high coefficient of friction are required. We present a new grasping method for convex objects, using almost exclusively shear forces. We achieve shear grasping with a gripper that
more » ... s thin film gecko-inspired fibrillar adhesives that conform to the curvature of the object. We present a verified model for grasping a range of curvatures and results that demonstrate the thin film fibrillar adhesives' increased contact area on textured surfaces when loaded in shear. Finally, the gripper is implemented on a robotic arm and grasps a variety of convex objects (at rest and ballistic). 1 E.W. Hawkes is with the
doi:10.1109/icra.2015.7139505 dblp:conf/icra/HawkesCHJC15 fatcat:765wlwrqgjamzdkgs5isun3wga