Passive Suction Enhanced Adhesion Pads for Soft Grippers

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI:10.1109/RoboSoft55895.2023.10121931

A. Chooi, T. Calais, S. Dontu, S. Jain, A. C. Ugalde, G. Hiramandala, E. Kanhere, Truman Stalin, P. V. y Alvarado

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Abstract

The suction capabilities of octopuses' arms are an evolutionary marvel in surface adhesion that have long fascinated scientists and engineers in soft robotics. In this study, we report the design and the fabrication of a pad inspired by the suckers of the octopus O. vulgaris. The pad houses several pores connected to a vacuum system on one end and covered by a soft membrane on the other end. The membrane is used as an interface between the pad and payloads. Vacuum actuation strains the membrane resulting in a secondary passive vacuum space between the pad and a payload. Material composition and geometric parameters of the pad were first optimized using finite element analysis to maximize both conformability to rough surfaces and adhesion force. The optimized pad exhibited a 73% enhancement in adhesion force compared to a traditional pad, with the ability to adhere strongly to objects with smooth, rough, or wet surfaces, even with a small initial contact area. Finally, the pad was tested in a single joint soft finger mounted on a small gripper to showcase basic gripping capabilities on a wide range of objects.

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被动吸力增强附着力软抓手垫

章鱼手臂的吸力能力是表面粘附力的进化奇迹，长期以来一直吸引着软机器人领域的科学家和工程师。在这项研究中，我们报告了一个垫子的设计和制造灵感来自章鱼O. vulgaris的吸盘。垫上有几个孔，一端与真空系统相连，另一端被软膜覆盖。该膜用作发射台和有效载荷之间的界面。真空驱动会使薄膜绷紧，从而在发射台和有效载荷之间形成二次被动真空空间。首先通过有限元分析优化垫的材料组成和几何参数，以最大限度地提高对粗糙表面的顺应性和粘附力。与传统衬垫相比，优化后的衬垫附着力增强了73%，即使初始接触面积很小，也能牢固地粘附在光滑、粗糙或潮湿表面的物体上。最后，在一个安装在小夹持器上的单关节软手指上对该垫进行了测试，以展示其对各种物体的基本夹持能力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2023 IEEE International Conference on Soft Robotics (RoboSoft)

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