Vacuum-powered soft actuator with oblique air chambers for easy detachment of artificial dry adhesive by coupled contraction and twisting

IF 7.4 3区材料科学 Q1 MATERIALS SCIENCE, MULTIDISCIPLINARY

Science and Technology of Advanced Materials Pub Date : 2023-11-09 DOI:10.1080/14686996.2023.2274818

Seung Hoon Yoo, Minsu Kim, Han Jun Park, Ga in Lee, Sung Ho Lee, Moon Kyu Kwak

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引用次数: 0

Abstract

A gecko foot-inspired, mushroom-shaped artificial dry adhesive exploiting intermolecular forces between microstructure and surface has drawn research attention for its strong adhesive force. However, the high pull-off strength corresponding to the adhesive force matters when detaching fragile substrates. In this study, we present a vacuum-powered soft actuator with the dry adhesive, embeds oblique air chambers. The soft actuator performs coupled contraction and twisting by applying negative pneumatic pressure inward and exhibits not only high pull-off strength but also easy detachment. This effective detachment can be achieved thanks to twisting motion of soft actuator. The detachment performances of the actuator models are assessed using a 6-DOF robot arm. Results show that the soft actuators exhibit remarkable pull-off strength decrement from ~ 20 N cm−2 to ~ 2 N cm−2 due to the twisting. Finally, to verify a feasible application of this study, we utilize the inherent compliance of the actuators and introduce a glass transfer system for which a glass substrate on a slope is gripped by the flexibility of the soft actuators and delivers to the destination without any fracture.

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真空驱动的软驱动器，斜气室，通过耦合收缩和扭转，容易脱离人工干胶

一种以壁虎脚为灵感，利用微观结构与表面之间分子间作用力的蘑菇形人工干胶因其强附着力而受到研究的关注。然而，在剥离易碎的基材时，与粘合力相对应的高拉脱强度很重要。在这项研究中，我们提出了一种真空动力软驱动器与干胶，嵌入斜气室。软执行器执行耦合收缩和扭转施加负气压向内，不仅表现出高的拉离强度，但也容易脱离。由于软致动器的扭转运动，这种有效的分离可以实现。采用六自由度机械臂对各作动器模型的分离性能进行了评估。结果表明，由于扭转作用，软致动器的拉脱强度从~ 20 N cm−2下降到~ 2 N cm−2。最后，为了验证本研究的可行应用，我们利用致动器固有的顺应性，并引入了一个玻璃传递系统，在这个系统中，斜坡上的玻璃基板被软致动器的灵活性抓住，并在没有任何断裂的情况下传递到目的地。

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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来源期刊

Science and Technology of Advanced Materials 工程技术-材料科学：综合

CiteScore

10.60

自引率

3.60%

发文量

审稿时长

4.8 months

期刊介绍： Science and Technology of Advanced Materials (STAM) is a leading open access, international journal for outstanding research articles across all aspects of materials science. Our audience is the international community across the disciplines of materials science, physics, chemistry, biology as well as engineering. The journal covers a broad spectrum of topics including functional and structural materials, synthesis and processing, theoretical analyses, characterization and properties of materials. Emphasis is placed on the interdisciplinary nature of materials science and issues at the forefront of the field, such as energy and environmental issues, as well as medical and bioengineering applications. Of particular interest are research papers on the following topics: Materials informatics and materials genomics Materials for 3D printing and additive manufacturing Nanostructured/nanoscale materials and nanodevices Bio-inspired, biomedical, and biological materials; nanomedicine, and novel technologies for clinical and medical applications Materials for energy and environment, next-generation photovoltaics, and green technologies Advanced structural materials, materials for extreme conditions.