Implementation Study of an Adhesion Hand with Stefan Adhesion

Abstract

The field of robotics involves extensive knowledge and skills related to numerous fields, and the World Robot Summit benchmarks technical skills in service robotics through competition. While grasping and moving a wide variety of objects, we examine a new method for handling objects using a suction mechanism. Notably, the proposed mechanism utilizes the adhesion force resulting from Stefan adhesion, which occurs when a solid plate detaches from a smooth surface. Experiments are conducted to evaluate the performance of the adhesion hand, and the obtained results demonstrate its effectiveness.