Soft Gripper Design Based on the Integration of Flat Dry Adhesive, Soft Actuator, and Microspine

Soft grippers can be used to grasp objects with various geometric surface structures or stiffness but typically encounter difficulty in providing high grasping force. Although the combination of soft grippers with adhesive technology can increase their load capacity, this approach has disadvantages of compatibility and limited application range. This article has reported a bioinspired design of a soft gripper that integrates flat dry adhesive, soft actuator, and microspine to improve the comprehensive grasping ability of the soft gripper on smooth or rough surfaces. The adhesive strength of flat dry adhesives with different thickness or cross-linking ratios was investigated to ensure that a large grasping force can be provided. Soft actuators with uniform and nonuniform cross-sectional heights were compared, and results indicated that the soft actuator with a nonuniform cross-sectional height exhibited remarkable advantages for designing the integrated gripper. A microspine-spring-shape memory alloy coil structure was designed to control the retraction and protrusion of microspine and distribute the load on rough surfaces evenly. The proposed integrated gripper with the aforementioned design can lift regularly or irregularly shaped objects with smooth or rough surfaces and provide a higher adhesive force than the nonadhesive gripper. After inserting a flexible pressure film sensor into the soft gripper, the surface property of the grasped object can be measured, which is beneficial for the selection of a suitable grasping strategy in unknown environments. The designed gripper can be used in many applications, such as in unmanned aerial vehicles, industrial manipulators, and climbing robots.