A versatile and high-load soft gripper enabled by vacuum-assisted bio-inspired interfacial adhesion

摘要

Abstract Soft robotic grippers have gained considerable attention owing to their highly compliant, adaptive, and safe characteristics in a large variety of scenes, especially involving human-machine interactions. However, the low-stiffness nature of the soft material and the multi-finger gripping mechanism make soft grasping systems suffer in applications requiring relatively high load capacity and broad grasping adaptability. Despite extensive efforts to develop soft grippers with tunable stiffness by constructing smart materials and structures, the resultant load capacity is often compromised by sacrificing working efficiency or surface adaptability. In this work, we report a paradigm to design a versatile, high-load (>2 kg), and fast-response (<1 s) pneumatic soft gripper by strengthening the contact interface via bio-inspired controllable adhesion. A mushroom-shaped micropatterned dry adhesive surface is integrated with a soft pneumatic bidirectionally bendable actuator via a vacuum-assisted equal load-sharing design. This gripper extends the adaptable object diameter from 15 mm to infinity and significantly increases the load capacity to over 2 kg without compromising the original compliance. The multifunctional grasping modes and high load capacity are successfully demonstrated by grasping objects with diverse material components, various surface shapes.