Directional Dry Adhesion Gripper for Fragile Object Handling
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Solution Overview
Problem
Existing grippers face challenges in adhering to fragile objects without deforming them, as they rely heavily on normal clamping force, which can be excessive and damaging.
Innovation Solution
An adhesion device combining a directional dry adhesive layer with inclined micro-wedge structures and an adhesion layer, such as a pressure-sensitive adhesive layer or micro-suction cups, to provide high adhesion force in all directions while requiring minimal pressure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If normal clamping force is increased to improve adhesion, then adhesion force is improved, but the object may deform or be damaged
Solution Approach 1:
The patent replaces traditional mechanical friction-based gripping with directional dry adhesive bonding. The adhesive layer with micro-wedge structures creates strong adhesion through molecular interactions rather than mechanical clamping force, eliminating the need for high normal forces that would deform fragile objects
Solution Approach 2:
The patent uses a composite structure combining directional dry adhesive material with a substrate. This composite design provides both strong adhesion capability and structural support, achieving high adhesion force without requiring excessive clamping pressure on the object
2Object-affected harmful factors
If directional dry adhesive is used to minimize normal clamping force, then object damage is reduced, but normal adhesion force is insufficient
Solution Approach 1:
The patent designs the adhesive layer with localized micro-wedge structures that concentrate adhesion forces in specific directions. This local quality enhancement provides strong normal adhesion where needed while maintaining the overall low-normal-force characteristic of directional dry adhesives
Solution Approach 2:
The patent modifies the physical parameters of the adhesive layer by introducing micro-wedge structures with specific geometries and orientations. These parameter changes enable the adhesive to generate sufficient normal adhesion force through directional bonding mechanisms while preserving the benefit of minimal required clamping pressure
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The combined adhesion device achieves high adhesion force in all directions with minimal pressure, effectively addressing the issue of fragile object deformation and providing strong, stable bonding.
Implementation Method 1
Directional dry adhesives, inspired by the fibrous structure found on the feet of geckos and certain spiders, can be defined as materials with relatively high shear adhesion and relatively low peel strength
Implementation Method 2
the adhesion layer is a pressure-sensitive adhesive layer
Implementation Method 3
the adhesion layer includes a plurality of micro-suction cups
Data Source
AI summary
The present disclosure relates to an adhesion device and a robot having the adhesion device. The adhesion device includes a substrate, an inner surface of the substrate being configured to be in contact with an object to be adhered; a directional dry adhesive layer provided on the inner surface of the substrate, the directional dry adhesive layer having a plurality of inclined micro-wedge structures; and an adhesion layer provided on the inner surface of the substrate and surrounding the directional dry adhesive layer.