A Soft Robotic Gripper With Gecko-Inspired Adhesive

摘要

Previous work has demonstrated the versatility of soft robotic grippers using simple control inputs. However, these grippers still face challenges in grasping large objects and in achieving high-strength grasps. This work investigates the combination of fluidic elastomer actuators and gecko-inspired adhesives to both enhance existing soft gripper properties and generate new capabilities. On rocky or dirty surfaces where adhesion is limited, the gripper retains the functionality of a pneumatically actuated elastomer gripper with no measured loss in performance. Design strategies for using the unique properties of the gecko-inspired adhesives are presented. By modeling fluidic elastomer actuators as a series of joints with associated joint torques, we designed an actuator that takes advantage of the unique properties of the gecko-inspired adhesive. Experiments showed higher strength grasps at lower pressures compared to nongecko actuators, in many cases enabling the gripper to actuate more quickly and use less energy. The gripper weighs 48.7 g, uses $7.25 of raw materials, and can support loads of over 50 N. A second gripper, using three fingers for a larger adhesive surface, demonstrated a grasping force of 111 N (25 lbf) when actuated at an internal pressure of 40 kPa.