Adaptive Self‐Sealing Suction‐Based Soft Robotic Gripper
Abstract While suction cups prevail as common gripping tools for a wide range of real‐world parts and surfaces, they often fail to seal the contact interface when engaging with irregular shapes and textured surfaces. In this work, the authors propose a suction‐based soft robotic gripper where suctio...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-09-01
|
| Series: | Advanced Science |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/advs.202100641 |
| _version_ | 1818736347467218944 |
|---|---|
| author | Sukho Song Dirk‐Michael Drotlef Donghoon Son Anastasia Koivikko Metin Sitti |
| author_facet | Sukho Song Dirk‐Michael Drotlef Donghoon Son Anastasia Koivikko Metin Sitti |
| author_sort | Sukho Song |
| collection | DOAJ |
| description | Abstract While suction cups prevail as common gripping tools for a wide range of real‐world parts and surfaces, they often fail to seal the contact interface when engaging with irregular shapes and textured surfaces. In this work, the authors propose a suction‐based soft robotic gripper where suction is created inside a self‐sealing, highly conformable and thin flat elastic membrane contacting a given part surface. Such soft gripper can self‐adapt the size of its effective suction area with respect to the applied load. The elastomeric membrane covering edge of the soft gripper can develop an air‐tight self‐sealing with parts even smaller than the gripper diameter. Such gripper shows 4 times higher adhesion than the one without the membrane on various textured surfaces. The two major advantages, underactuated self‐adaptability and enhanced suction performance, allow the membrane‐based suction mechanism to grip various three‐dimensional (3D) geometries and delicate parts, such as egg, lime, apple, and even hydrogels without noticeable damage, which can have not been gripped with the previous adhesive microstructures‐based and active suction‐based soft grippers. The structural and material simplicity of the proposed soft gripper design can have a broad use in diverse fields, such as digital manufacturing, robotic manipulation, transfer printing, and medical gripping. |
| first_indexed | 2024-12-18T00:35:42Z |
| format | Article |
| id | doaj.art-7bdd5fd52c424da29dcdad54a28c1d5c |
| institution | Directory Open Access Journal |
| issn | 2198-3844 |
| language | English |
| last_indexed | 2024-12-18T00:35:42Z |
| publishDate | 2021-09-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Science |
| spelling | doaj.art-7bdd5fd52c424da29dcdad54a28c1d5c2022-12-21T21:27:01ZengWileyAdvanced Science2198-38442021-09-01817n/an/a10.1002/advs.202100641Adaptive Self‐Sealing Suction‐Based Soft Robotic GripperSukho Song0Dirk‐Michael Drotlef1Donghoon Son2Anastasia Koivikko3Metin Sitti4Physical Intelligence Department Max Planck Institute for Intelligent Systems Stuttgart 70569 GermanyPhysical Intelligence Department Max Planck Institute for Intelligent Systems Stuttgart 70569 GermanyPhysical Intelligence Department Max Planck Institute for Intelligent Systems Stuttgart 70569 GermanyPhysical Intelligence Department Max Planck Institute for Intelligent Systems Stuttgart 70569 GermanyPhysical Intelligence Department Max Planck Institute for Intelligent Systems Stuttgart 70569 GermanyAbstract While suction cups prevail as common gripping tools for a wide range of real‐world parts and surfaces, they often fail to seal the contact interface when engaging with irregular shapes and textured surfaces. In this work, the authors propose a suction‐based soft robotic gripper where suction is created inside a self‐sealing, highly conformable and thin flat elastic membrane contacting a given part surface. Such soft gripper can self‐adapt the size of its effective suction area with respect to the applied load. The elastomeric membrane covering edge of the soft gripper can develop an air‐tight self‐sealing with parts even smaller than the gripper diameter. Such gripper shows 4 times higher adhesion than the one without the membrane on various textured surfaces. The two major advantages, underactuated self‐adaptability and enhanced suction performance, allow the membrane‐based suction mechanism to grip various three‐dimensional (3D) geometries and delicate parts, such as egg, lime, apple, and even hydrogels without noticeable damage, which can have not been gripped with the previous adhesive microstructures‐based and active suction‐based soft grippers. The structural and material simplicity of the proposed soft gripper design can have a broad use in diverse fields, such as digital manufacturing, robotic manipulation, transfer printing, and medical gripping.https://doi.org/10.1002/advs.202100641rubber frictionself‐sealingsoft gripperssoft roboticssuction cups |
| spellingShingle | Sukho Song Dirk‐Michael Drotlef Donghoon Son Anastasia Koivikko Metin Sitti Adaptive Self‐Sealing Suction‐Based Soft Robotic Gripper Advanced Science rubber friction self‐sealing soft grippers soft robotics suction cups |
| title | Adaptive Self‐Sealing Suction‐Based Soft Robotic Gripper |
| title_full | Adaptive Self‐Sealing Suction‐Based Soft Robotic Gripper |
| title_fullStr | Adaptive Self‐Sealing Suction‐Based Soft Robotic Gripper |
| title_full_unstemmed | Adaptive Self‐Sealing Suction‐Based Soft Robotic Gripper |
| title_short | Adaptive Self‐Sealing Suction‐Based Soft Robotic Gripper |
| title_sort | adaptive self sealing suction based soft robotic gripper |
| topic | rubber friction self‐sealing soft grippers soft robotics suction cups |
| url | https://doi.org/10.1002/advs.202100641 |
| work_keys_str_mv | AT sukhosong adaptiveselfsealingsuctionbasedsoftroboticgripper AT dirkmichaeldrotlef adaptiveselfsealingsuctionbasedsoftroboticgripper AT donghoonson adaptiveselfsealingsuctionbasedsoftroboticgripper AT anastasiakoivikko adaptiveselfsealingsuctionbasedsoftroboticgripper AT metinsitti adaptiveselfsealingsuctionbasedsoftroboticgripper |