Development of a gecko-like robotic gripper using Scott–Russell mechanisms. Issue 3 (14th June 2019)

• Record Type: Journal Article
• Authors: Modabberifar, Mehdi; Spenko, Matthew
• Is Part Of: Robotica. Volume 38:Issue 3(2020)
• Page Start: 541
• Page End: 549
• Publication Date: 2019-06-14
• Subjects: Gecko-like adhesion, -- Scott–Russell mechanism, -- Robotic gripper; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574719000833
• Languages: English
• ISSNs: 0263-5747

Abstract

Summary: This paper describes the development of a gecko-inspired robotic gripper for grasping flat objects using Scott–Russell mechanisms. Compared to previously reported grippers that utilize gecko-like adhesives, the one presented here produces higher normal adhesion and has robustness and controllability advantages. To verify the applicability of proposed gripper, a mechanical model and experimental results on a variety of substrates are presented. The experimental results demonstrated a 19.6% and 50% increase in normal adhesion using a preload of < 15 and < 30 N, respectively, compared to previously reported results under similar testing parameters and conditions.