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

摘要

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.