| About this Abstract |
| Meeting |
2024 TMS Annual Meeting & Exhibition
|
| Symposium
|
Materials Science for Global Development -- Health, Energy, and Environment: An SMD Symposium in Honor of Wole Soboyejo
|
| Presentation Title |
Compliant Manipulation through Dynamically Tunable Dry Adhesion |
| Author(s) |
Wanliang Shan |
| On-Site Speaker (Planned) |
Wanliang Shan |
| Abstract Scope |
Conventional robotic grippers rely on either mechanical interlocking or suction forces for manipulation. In this talk, we explore recent advances in compliant robotic manipulation technologies based on dynamically tunable dry adhesion. In particular, we elaborate on the subsurface pressure modulation (SPM) approach. We first validate the concept of SPM using a PDMS cylindrical post containing a hollow annular chamber whose pressure can be modulated to alter the dry adhesion of the cylindrical post. With FEA we elucidate the underlying mechanics for the observed tunable dry adhesion. Modified designs in the form of soft hollow pillars (SHPs) are fabricated and characterized thoroughly. We show that soft grippers based on SHPs can have comparable adhesion tuning (~ 150 times) with much lower activation pressure and faster response time (< 1 sec) when compared with conventional suction cups. The implications of these adhesion-based soft grippers for industrial pick-and-place manipulations will also be discussed. |
| Proceedings Inclusion? |
Planned: |
| Keywords |
Thin Films and Interfaces, Other, |