Skip to main content
SpringerLink
Log in

A Gecko-Inspired Gripper with Controllable Adhesion

  • Conference paper
  • First Online:
Intelligent Robotics and Applications (ICIRA 2018)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10985))

Included in the following conference series:

Abstract

This paper introduces a novel gecko-inspired gripper for flat surfaces based on mushroom-shaped adhesive microstructure. Attachment and detachment model is established according to the adhesion mechanism of gecko. The influence of different physical parameters on adhesion are analyzed. On the basis of this, an adhesion unit model is proposed, and a micro gripper with controllable adhesion is developed. Furthermore, the grasping ability of the gripper in different conditions is tested. This work provides new insights into the application of bio-inspired adhesives to grippers.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Autumn, K., Gravish, N.: Gecko adhesion: evolutionary nanotechnology. Philos. Trans. R. Soc. Lond. Math. Phys. Eng. Sci. 366(1870), 1575–1590 (2008)

    Article  Google Scholar 

  2. Parness, A.: Testing gecko-like adhesives aboard the international space station. In: AIAA SPACE and Astronautics Forum and Exposition, p. 5181 (2017)

    Google Scholar 

  3. Parness, A., Heverly, M., Hilgemann, E., et al.: On-off adhesive grippers for earth-orbit. In: AIAA SPACE 2013 Conference and Exposition, p. 5533 (2013)

    Google Scholar 

  4. Parness, A., Soto, D., Esparza, N., et al.: A microfabricated wedge-shaped adhesive array displaying gecko-like dynamic adhesion, directionality and long lifetime. J. R. Soc. Interface, RSIF-2009 (2009)

    Google Scholar 

  5. Geim, A.K., Dubonos, S.V., Grigorieva, I.V., et al.: Microfabricated adhesive mimicking gecko foot-hair. Nature Mater. 2(7), 461 (2003)

    Article  Google Scholar 

  6. Lee, H., Lee, B.P., Messersmith, P.B.: A reversible wet/dry adhesive inspired by mussels and geckos. Nature 448(7151), 338 (2007)

    Article  Google Scholar 

  7. Hawkes, E.W., Jiang, H., Cutkosky, M.R.: Three-dimensional dynamic surface grasping with dry adhesion. Int. J. Robot. Res. 35(8), 943–958 (2016)

    Article  Google Scholar 

  8. Jiang, H., Hawkes, E. W., Arutyunov, V., et al.: Scaling controllable adhesives to grapple floating objects in space. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 2828–2835. IEEE (2015)

    Google Scholar 

  9. Song, S., Majidi, C., Sitti, M.: Geckogripper: a soft, inflatable robotic gripper using gecko-inspired elastomer micro-fiber adhesives. In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp. 4624–4629. IEEE (2014)

    Google Scholar 

  10. Zhou, M., Tian, Y., Sameoto, D., et al.: Controllable interfacial adhesion applied to transfer light and fragile objects by using gecko inspired mushroom-shaped pillar surface. ACS Appl. Mater. Interfaces. 5(20), 10137–10144 (2013)

    Article  Google Scholar 

  11. Pesika, N.S., Tian, Y., Zhao, B., et al.: Peel-zone model of tape peeling based on the gecko adhesive system. J. Adhes. 83(4), 383–401 (2007)

    Article  Google Scholar 

  12. Kendall, K.: Thin-film peeling-the elastic term. J. Phys. D Appl. Phys. 8(13), 1449 (1975)

    Article  Google Scholar 

  13. Sauer, R.A.: The peeling behavior of thin films with finite bending stiffness and the implications on gecko adhesion. J. Adhes. 87(7–8), 624–643 (2011)

    Article  Google Scholar 

  14. Russell, A.P.: A contribution to the functional analysis of the foot of the tokay, gekko gecko (Reptilia: Gekkonidae). J. Zool. 176(4), 437–476 (1975)

    Article  Google Scholar 

  15. Gorb, S., Varenberg, M., Peressadko, A., et al.: Biomimetic mushroom-shaped fibrillar adhesive microstructure. J. R. Soc. Interface 4(13), 271 (2007)

    Article  Google Scholar 

  16. Eason, E.V., Hawkes, E.W., Windheim, M., et al.: Stress distribution and contact area measurements of a gecko toe using a high-resolution tactile sensor. Bioinspir. Biomim. 10(1), 016013 (2015)

    Article  Google Scholar 

Download references

Acknowledgement

This work is supported by the National Natural Science Foundation of China (No. 51435008). This work is also partially supported by Jiangsu Province Friendship Award to S N Gorb.

Author information

Authors and Affiliations

  1. The 28th Research Institute of China Electronics Technology Group Corporation, Nanjing, 210007, China

    Zhongyuan Wang, Xiaoyi Liu & Xiuwan Wang

  2. Institute of Bio-Inspired Structure and Surface Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China

    Zhongyuan Wang, Mohong Zheng, Fangfang Zhang, Qi Zhang & Zhendong Dai

  3. Department Functional Morphology and Biomechanics, Zoological Institute of the University of Kiel, 24118, Kiel, Germany

    Stanislav N. Gorb

Authors
  1. Zhongyuan Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Xiaoyi Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Mohong Zheng
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Fangfang Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Qi Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Xiuwan Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  7. Stanislav N. Gorb
    View author publications

    You can also search for this author in PubMed Google Scholar

  8. Zhendong Dai
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Zhongyuan Wang .

Editor information

Editors and Affiliations

  1. University of Newcastle, Callaghan, New South Wales, Australia

    Zhiyong Chen

  2. University of Newcastle, Callaghan, New South Wales, Australia

    Alexandre Mendes

  3. University of Newcastle, Callaghan, New South Wales, Australia

    Yamin Yan

  4. Shenzhen Institutes of Advanced Technology, Shenzhen, China

    Shifeng Chen

Rights and permissions

Reprints and permissions

Copyright information

© 2018 Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Wang, Z. et al. (2018). A Gecko-Inspired Gripper with Controllable Adhesion. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10985. Springer, Cham. https://doi.org/10.1007/978-3-319-97589-4_10

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-97589-4_10

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-97588-7

  • Online ISBN: 978-3-319-97589-4

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation