Abstract
This paper proposes a shape-adaptive electroadhesion dielectric elastomer actuator (EA-DEA) pad gripper that can actively adapt to the shape of curved objects and quickly handle various objects by combining an EA pad and a multi-layered DEA driven by electrostatic force. This gripper has a rapid release function capable of detaching thin and light objects in less than 0.2 s with bending motion of multi-layered DEA and reverse polarity voltage. Moreover, combined with a transform mechanism that changes the posture of the EA-DEA pad gripper, a multifunctional gripper handling various objects from thin to irregularly shaped objects is implemented. The high voltage controller is configured to generate the variable and reversible voltages required for the control of the developed gripper. To verify the performance and practicality of the proposed multifunctional gripper system, we demonstrate the gripping task in three modes formed by controlling the EA-DEA pad gripper and the transform mechanism to adapt to the object shape. According to the experimental results, this gripper can reliably and rapidly pick and place various objects, such as thin film, hexahedron, cylinders, spheres, irregular shaped, deformable, and fragile objects corresponding to each mode.
Issue Section:
Research Papers
References
1.
Hughes
, J.
, Culha
, U.
, Giardina
, F.
, Guenther
, F.
, Rosendo
, A.
, and Iida
, F.
, 2016
, “Soft Manipulators and Grippers: A Review
,” Front. Robot. AI
, 3
(69
), pp. 1
–12
. 2.
Shintake
, J.
, Cacucciolo
, V.
, Floreano
, D.
, and Shea
, H.
, 2018
, “Soft Robotic Grippers
,” Adv. Mater.
, 30
(29
), p. 1707035
, pp. 1–33. 3.
Ilievski
, F.
, Mazzeo
, A. D.
, Shepherd
, R. F.
, Chen
, X.
, and Whitesides
, G. M.
, 2011
, “Soft Robotics for Chemists
,” Angew. Chem. Int. Ed.
, 50
(8
), pp. 1890
–1895
. 4.
Yufei
, H.
, Zheyuan
, G.
, Zhexin
, X.
, Shaoya
, G.
, Xingbang
, Y.
, Ziyu
, R.
, Tianmiao
, W.
, and Li
, W.
, 2016
, “Universal Soft Pneumatic Robotic Gripper With Variable Effective Length
,” IEEE Proceedings of the 34th Chinese Control and Design Conference
, Chengdu, China
, July 27–29
, pp. 6109
–6114
.5.
Mosadegh
, B.
, Polygerinos
, P.
, Keplinger
, C.
, Wennstedt
, S.
, Shepherd
, R. F.
, Gupta
, U.
, Shim
, J.
, Bertoldi
, K.
, Walsh
, C. J.
, and Whitesides
, G. M.
, 2014
, “Pneumatic Networks for Soft Robotics that Actuate Rapidly
,” Adv. Funct. Mater.
, 24
(15
), pp. 2163
–2170
. 6.
Kofod
, G.
, Wirges
, W.
, Paajanen
, M.
, and Bauer
, S.
, 2007
, “Energy Minimization for Self-Organized Structure Formation and Actuation
,” Appl. Phys. Lett.
, 90
(8
), p. 081916
. 7.
Lau
, G.
, Heng
, K.
, Ahmed
, A. S.
, and Shrestha
, M.
, 2017
, “Dielectric Elastomer Fingers for Versatile Grasping and Nimble Pinching
,” Appl. Phys. Lett.
, 110
(18
), p. 182906
. 8.
Li
, J.
, Liu
, L.
, Liu
, Y.
, and Leng
, J.
, 2018
, “Dielectric Elastomer Spring-Roll Bending Actuators: Applications in Soft Robotics and Design
,” Soft Robot.
, 6
(1
), pp. 69
–81
. 9.
Rosset
, S.
, and Shea
, H.
, 2016
, “Small, Fast and Tough: Shrinking Down Integrated Elastomer Transducers
,” Appl. Phys. Rev.
, 3
(3
), p. 031105
. 10.
Hawkes
, E. W.
, Jiang
, H.
, Christensen
, D. L.
, Han
, A. K.
, and Cutkosky
, M. R.
, 2018
, “Grasping Without Squeezing: Design and Modeling of Shear-Activated Grippers
,” IEEE Trans. Robot.
, 34
(2
), pp. 303
–316
. 11.
Jiang
, H.
, Hawkes
, E. W.
, Fuller
, C.
, Estrada
, M. A.
, Suresh
, S. A.
, Abcouwer
, N.
, Han
, A. K.
, et al., 2017
, “A Robotic Device Using Gecko-Inspired Adhesives Can Grasp and Manipulate Large Objects in Microgravity
,” Sci. Robot.
, 2
(7
), p. eaan4545
. 12.
Schaler
, E. W.
, Ruffatto III
, D.
, Glick
, P.
, White
, V.
, and Parness
, A.
, 2017
, “An Electrostatic Gripper for Flexible Objects
,” 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
, Vancouver, BC, Canada
, Sept. 24–28
, pp. 1172
–1179
.13.
Autumn
, K.
, and Peattie
, A. M.
, 2002
, “Mechanisms of Adhesion in Geckos
,” Integr. Comp. Biol.
, 42
(6
), pp. 1081
–1090
. 14.
Guo
, J.
, Leng
, J.
, and Rossiter
, J.
, 2020
, “Electroadhesion Technologies for Robotics: A Comprehensive Review
,” IEEE Trans. Robot.
, 36
(2
), pp. 313
–327
. 15.
Chen
, R.
, Song
, R.
, Zhang
, Z.
, Bai
, L.
, Liu
, F.
, Jiang
, P.
, Sindersberger
, D.
, Monkman
, G. J.
, and Guo
, J.
, 2019
, “Bio-Inspired Shape-Adaptive Soft Robotic Grippers Augmented With Electroadhesion Functionality
,” Soft Robot.
, 6
(6
), pp. 701
–712
. 16.
Choi
, K.
, Kim
, S.
, Hwang
, U.
, Kim
, J.
, Park
, I.
, Jang
, K.
, Choi
, H. J.
, et al., 2020
, “Lifting-Force Maximization of a Micropatterned Electroadhesive Device Comparable to the Human-Finger Grip
,” ACS Appl. Electron. Mater.
, 2
(6
), pp. 1596
–1602
. 17.
Guo
, J.
, Elgeneidy
, K.
, Xiang
, C.
, Lohse
, N.
, Justham
, L.
, and Rossiter
, J.
, 2018
, “Soft Pneumatic Grippers Embedded With Stretchable Electroadhesion
,” Smart Mater. Struct.
, 27
(5
), p. 055006
. 18.
Xiang
, C.
, Guo
, J.
, and Rossiter
, J.
, 2019
, “Soft-Smart Robotic End Effectors With Sensing, Actuation, and Gripping Capabilities
,” Smart Mater. Struct.
, 28
(5
), p. 055034
. 19.
Shintake
, J.
, Rosset
, S.
, Schubert
, B.
, Floreano
, D.
, and Shea
, H.
, 2016
, “Versatile Soft Grippers With Intrinsic Electroadhesion Based on Multifunctional Polymer Actuators
,” Adv. Mater.
, 28
(2
), pp. 231
–238
. 20.
Gao
, X.
, Cao
, C.
, Guo
, J.
, and Conn
, A.
, 2019
, “Elastic Electroadhesion With Rapid Release by Integrated Resonant Vibration
,” Adv. Mater. Technol.
, 4
(1
), p. 1800378
. 21.
Hwang
, G.
, Park
, J.
, Cortes
, D. S. D.
, Hyeon
, K.
, and Kyung
, K.
, 2021
, “Electroadhesion Based High-Payload Soft Gripper With Mechanically Strengthened Structure
,” IEEE Trans. Ind. Electron.
, 69
(1
), pp. 642
–651
. 22.
Dadkhah
, M.
, Zhao
, Z.
, Wettels
, N.
, and Spenko
, M.
, 2016
, “A Self-Aligning Gripper Using an Electrostatic/Gecko-Like Adhesive
,” 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
, Daejeon, South Korea
, Oct. 9–14
, pp. 1006
–1011
.23.
Alizadehyazdi
, V.
, Bonthron
, M.
, and Spenko
, M.
, 2020
, “An Electrostatic/Gecko-Inspired Adhesives Soft Robotic Gripper
,” IEEE Robot. Autom. Lett.
, 5
(3
), pp. 4679
–4686
. 24.
Nakamura
, T.
, and Yamamoto
, A.
, 2017
, “Modeling and Control of Electroadhesion Force in DC Voltage
,” ROBOMECH J.
, 4
(18
), pp. 1
–10
. 25.
Jung
, H. S.
, Phung
, H.
, Park
, J. H.
, Yang
, S. Y.
, Kim
, K.
, Ko
, J. U.
, Hwang
, S. T.
, and Choi
, H. R.
, 2021
, “Development of a Small and Lightweight Missile Fin Control Actuation System Driven by Novel Dielectric Elastomer Actuators
,” IEEE/ASME Trans. Mechatron.
, 26
(2
), pp. 1002
–1012
. 26.
Ruffatto III
, D.
, Shah
, J.
, and Spenko
, M.
, 2013
, “Optimization and Experimental Validation of Electrostatic Adhesive Geometry
,” 2013 IEEE Aerospace Conference
, Big Sky, MT
, Mar. 2–9
, pp. 1
–8
.27.
Brecher
, C.
, Emonts
, M.
, Ozolin
, B.
, and Schares
, R.
, 2013
, “Handling of Preforms and Prepregs for Mass Production of Composites
,” 19th International Conference on Composite Materials
, Palais des congrès, Montréal, Canada
, July 28–Aug. 2
, pp. 4085
–4093
.28.
Prahlad
, H. E.
, Pelrine
, R. E.
, Guggenberg
, P. A. V.
, Kornbluh
, R. D.
, and Eckerle
, J. S.
, 2013
, “High Voltage Converters for Electrostatic Applications
,” US Patent US20130186699A1.29.
Phung
, H.
, Hoang
, P. T.
, Jung
, H. S.
, Nguyen
, T. D.
, Nguyen
, C. T.
, and Choi
, H. R.
, 2020
, “Haptic Display Responsive to Touch Driven by Soft Actuator and Soft Sensor
,” IEEE/ASME Trans. Mechatron.
, 26
(5
), pp. 2495
–2505
. Copyright © 2022 by ASME
You do not currently have access to this content.
