An Underactuated Adaptive Microspines Gripper for Rough Wall.

ABSTRACT: Wall attachment has great potential in a broad range of applications such as robotic grasping, transfer printing, and asteroid sampling. Herein, a new type of underactuated bionic microspines gripper is proposed to attach to an irregular, rough wall. Experimental results revealed that the gripper, profiting from its flexible structure and underactuated linkage mechanism, is capable of adapting submillimeter scale roughness to centimeter scale geometry irregularity in both normal and tangential attachment. The rigid-flexible coupling simulation analysis validated that the rough adaptation was achieved by the passive deformation of the zigzag flexible structure, while the centimeter-scale irregularity adaptation come from the underactuated design. The attachment test of a spine confirmed tha

SUBMITTER: Li X 

PROVIDER: S-EPMC9844350 | biostudies-literature | 2023 Jan

REPOSITORIES: biostudies-literature