Adhesion-grasping behavior of a mechanical gripper based on thermoresponsive smart wood

Abstract

The challenge of grasping thin sheets, slender objects, and granular objects has hampered the development of mechanical grippers. In this investigation, thermoresponsive polymers and chemically treated wood were combined to develop a novel mechanical gripper with adjustable adhesion force. By switching between hot and cold water inside the mechanical gripper, the gripper could grasp and release a variety of objects. Further study revealed that the adhesion force of the mechanical gripper was related to temperature, contact area, and the material of the grasped object. Finally, the adhesion force equation was established to promote the application of the mechanical gripper.