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Development of a gecko-like robotic gripper using Scott–Russell mechanisms

Published online by Cambridge University Press:  14 June 2019

Mehdi Modabberifar Open the ORCID record for Mehdi Modabberifar [Opens in a new window]  and
Matthew Spenko
Mehdi Modabberifar*
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering, Arak University, Arak, Iran
Matthew Spenko
Affiliation:
Department of Mechanical, Materials, and Aerospace Engineering, Illinois Institute of Technology, Chicago, IL, USA
*
*Corresponding author. E-mail: [email protected]
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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.

Keywords

Gecko-like adhesionScott–Russell mechanismRobotic gripper
Type
Articles
Information
Robotica , Volume 38 , Issue 3 , March 2020 , pp. 541 - 549
Copyright
© Cambridge University Press 2019 

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