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...
Ausführliche Beschreibung
Autor*in: |
Sukho Song [verfasserIn] Dirk‐Michael Drotlef [verfasserIn] Donghoon Son [verfasserIn] Anastasia Koivikko [verfasserIn] Metin Sitti [verfasserIn] |
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Format: |
E-Artikel |
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Sprache: |
Englisch |
Erschienen: |
2021 |
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Übergeordnetes Werk: |
In: Advanced Science - Wiley, 2015, 8(2021), 17, Seite n/a-n/a |
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Übergeordnetes Werk: |
volume:8 ; year:2021 ; number:17 ; pages:n/a-n/a |
Links: |
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DOI / URN: |
10.1002/advs.202100641 |
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Katalog-ID: |
DOAJ062634046 |
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520 | |a 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. | ||
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10.1002/advs.202100641 doi (DE-627)DOAJ062634046 (DE-599)DOAJ7bdd5fd52c424da29dcdad54a28c1d5c DE-627 ger DE-627 rakwb eng Sukho Song verfasserin aut Adaptive Self‐Sealing Suction‐Based Soft Robotic Gripper 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier 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. rubber friction self‐sealing soft grippers soft robotics suction cups Science Q Dirk‐Michael Drotlef verfasserin aut Donghoon Son verfasserin aut Anastasia Koivikko verfasserin aut Metin Sitti verfasserin aut In Advanced Science Wiley, 2015 8(2021), 17, Seite n/a-n/a (DE-627)817357777 (DE-600)2808093-2 21983844 nnns volume:8 year:2021 number:17 pages:n/a-n/a https://doi.org/10.1002/advs.202100641 kostenfrei https://doaj.org/article/7bdd5fd52c424da29dcdad54a28c1d5c kostenfrei https://doi.org/10.1002/advs.202100641 kostenfrei https://doaj.org/toc/2198-3844 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2021 17 n/a-n/a |
spelling |
10.1002/advs.202100641 doi (DE-627)DOAJ062634046 (DE-599)DOAJ7bdd5fd52c424da29dcdad54a28c1d5c DE-627 ger DE-627 rakwb eng Sukho Song verfasserin aut Adaptive Self‐Sealing Suction‐Based Soft Robotic Gripper 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier 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. rubber friction self‐sealing soft grippers soft robotics suction cups Science Q Dirk‐Michael Drotlef verfasserin aut Donghoon Son verfasserin aut Anastasia Koivikko verfasserin aut Metin Sitti verfasserin aut In Advanced Science Wiley, 2015 8(2021), 17, Seite n/a-n/a (DE-627)817357777 (DE-600)2808093-2 21983844 nnns volume:8 year:2021 number:17 pages:n/a-n/a https://doi.org/10.1002/advs.202100641 kostenfrei https://doaj.org/article/7bdd5fd52c424da29dcdad54a28c1d5c kostenfrei https://doi.org/10.1002/advs.202100641 kostenfrei https://doaj.org/toc/2198-3844 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2021 17 n/a-n/a |
allfields_unstemmed |
10.1002/advs.202100641 doi (DE-627)DOAJ062634046 (DE-599)DOAJ7bdd5fd52c424da29dcdad54a28c1d5c DE-627 ger DE-627 rakwb eng Sukho Song verfasserin aut Adaptive Self‐Sealing Suction‐Based Soft Robotic Gripper 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier 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. rubber friction self‐sealing soft grippers soft robotics suction cups Science Q Dirk‐Michael Drotlef verfasserin aut Donghoon Son verfasserin aut Anastasia Koivikko verfasserin aut Metin Sitti verfasserin aut In Advanced Science Wiley, 2015 8(2021), 17, Seite n/a-n/a (DE-627)817357777 (DE-600)2808093-2 21983844 nnns volume:8 year:2021 number:17 pages:n/a-n/a https://doi.org/10.1002/advs.202100641 kostenfrei https://doaj.org/article/7bdd5fd52c424da29dcdad54a28c1d5c kostenfrei https://doi.org/10.1002/advs.202100641 kostenfrei https://doaj.org/toc/2198-3844 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2021 17 n/a-n/a |
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10.1002/advs.202100641 doi (DE-627)DOAJ062634046 (DE-599)DOAJ7bdd5fd52c424da29dcdad54a28c1d5c DE-627 ger DE-627 rakwb eng Sukho Song verfasserin aut Adaptive Self‐Sealing Suction‐Based Soft Robotic Gripper 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier 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. rubber friction self‐sealing soft grippers soft robotics suction cups Science Q Dirk‐Michael Drotlef verfasserin aut Donghoon Son verfasserin aut Anastasia Koivikko verfasserin aut Metin Sitti verfasserin aut In Advanced Science Wiley, 2015 8(2021), 17, Seite n/a-n/a (DE-627)817357777 (DE-600)2808093-2 21983844 nnns volume:8 year:2021 number:17 pages:n/a-n/a https://doi.org/10.1002/advs.202100641 kostenfrei https://doaj.org/article/7bdd5fd52c424da29dcdad54a28c1d5c kostenfrei https://doi.org/10.1002/advs.202100641 kostenfrei https://doaj.org/toc/2198-3844 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2021 17 n/a-n/a |
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10.1002/advs.202100641 doi (DE-627)DOAJ062634046 (DE-599)DOAJ7bdd5fd52c424da29dcdad54a28c1d5c DE-627 ger DE-627 rakwb eng Sukho Song verfasserin aut Adaptive Self‐Sealing Suction‐Based Soft Robotic Gripper 2021 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier 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. rubber friction self‐sealing soft grippers soft robotics suction cups Science Q Dirk‐Michael Drotlef verfasserin aut Donghoon Son verfasserin aut Anastasia Koivikko verfasserin aut Metin Sitti verfasserin aut In Advanced Science Wiley, 2015 8(2021), 17, Seite n/a-n/a (DE-627)817357777 (DE-600)2808093-2 21983844 nnns volume:8 year:2021 number:17 pages:n/a-n/a https://doi.org/10.1002/advs.202100641 kostenfrei https://doaj.org/article/7bdd5fd52c424da29dcdad54a28c1d5c kostenfrei https://doi.org/10.1002/advs.202100641 kostenfrei https://doaj.org/toc/2198-3844 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4012 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2021 17 n/a-n/a |
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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. |
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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. |
abstract_unstemmed |
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. |
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