THESIS
2022
1 online resource (ix, 45 pages) : illustrations (chiefly color)
Abstract
Controllable dry adhesives have sparked a lot of interest, but due to their high cost,
complexity, and machine precision requirements, their development and application are still
limited. This research creates a scalable roll-to-roll process for fabrication of wedge-shaped
controllable dry adhesives for robotic grasping. The configuration with the best wedge
dimension (50 μm width and 30° tip angle) has peak and stable normal adhesion values of 14
kPa and 6.8 kPa, respectively. Furthermore, parallel grippers are made to grasp things with flat
surfaces, a range of shapes, and different surface textures. This novel scalable, low-cost, and
simple method can be used to make a straight and continuous wedge-structured dry adhesive
which could be used in robotic manipulation tasks on a large s...[
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Controllable dry adhesives have sparked a lot of interest, but due to their high cost,
complexity, and machine precision requirements, their development and application are still
limited. This research creates a scalable roll-to-roll process for fabrication of wedge-shaped
controllable dry adhesives for robotic grasping. The configuration with the best wedge
dimension (50 μm width and 30° tip angle) has peak and stable normal adhesion values of 14
kPa and 6.8 kPa, respectively. Furthermore, parallel grippers are made to grasp things with flat
surfaces, a range of shapes, and different surface textures. This novel scalable, low-cost, and
simple method can be used to make a straight and continuous wedge-structured dry adhesive
which could be used in robotic manipulation tasks on a large scale. Furthermore, with gecko-inspired
adhesives, where close contact is critical for a firm attachment, monitoring the status of
contact is vital. Few have achieved tactile sense for gecko grippers due to a lack of deformable
sensors. Viko is an adaptive gecko gripper that monitors contact condition using vision-based
tactile sensors. The sensor provides high-resolution real-time contact area and shear force
readings. The sensor is also adaptable, low-cost, and small. It can incorporate gecko-inspired
adhesives into the sensor surface without compromising its adaptability or performance. The
gripper's performance was evaluated using a robotic arm and a variety of grasping tests. Even
with a small fingertip pitch angle of 30°, the gripper has a maximum payload of 8N.
Demonstration is presented on how the gripper may use the sensor feedback to change fingertip
position for better contact. In addition, common object picking was carried out to demonstrate
the gripper's adaptability.
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