A Shape Memory Polymer Adhesive Gripper for Pick-and-Place Applications

Chang Hee Son, Seok Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Over the past few years, shape memory polymer (SMP) has been extensively studied in terms of its remarkable reversible dry adhesive properties and related smart adhesive applications. However, its exceptional properties have not been exploited for further opportunities such as pick-and-place applications, which would otherwise advance the robotic manipulation. This work explores the use of an SMP to design an adhesive gripper that picks and places a target solid object employing the reversible dry adhesion of an SMP. Compared with other single surface contact grippers including vacuum, electromagnetic, electroadhesion, and gecko grippers, the SMP adhesive gripper interacts with not only flat and smooth dry surfaces but also moderately rough and even wet surfaces for pick-and-place with high adhesion strength (> 2 atmospheres). In this work, associated physical mechanisms, SMP adhesive mechanics, and thermal conditions are studied. In particular, the numerical and experimental study elucidates that the optimal compositional and topological SMP design may substantially enhance its adhesion strength and reversibility, which leads to a strong grip force simultaneously with a minimized releasing force. Finally, the versatility and utility of the SMP adhesive gripper are highlighted through diverse pick-and-place demonstrations.

Original languageEnglish (US)
Title of host publication2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages10010-10016
Number of pages7
ISBN (Electronic)9781728173955
DOIs
StatePublished - May 2020
Event2020 IEEE International Conference on Robotics and Automation, ICRA 2020 - Paris, France
Duration: May 31 2020Aug 31 2020

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2020 IEEE International Conference on Robotics and Automation, ICRA 2020
CountryFrance
CityParis
Period5/31/208/31/20

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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