AntGrip—Boosting Parallel Plate Gripper Performance Inspired by the Internal Hairs of Ant Mandibles

Abstract

Ants use their mandibles—effectively a two-finger gripper—for a wide range of grasping activities. Here, we investigate whether mimicking the internal hairs found on ant mandibles can improve performance of a two-finger parallel plate robot gripper. With bin-picking applications in mind, the gripper fingers are long and slim, with interchangeable soft gripping pads that can be hairy or hairless. A total of 2400 video-documented experiments have been conducted, comparing hairless to hairy pads with different hair patterns. Simply by adding hairs, the grasp success rate was increased by at least 29%, and the number of objects that remain securely gripped during manipulation more than doubled. This result not only advances the state of the art in grasping technology, but also provides novel insight into the mechanical role of mandible hairs in ant biology.