A hybrid gripper with electro-adhesive film for variable friction

Abstract

In recent years, gripper technology has gained attention in robotics for reliably handling objects with delicate and complex shapes. Electro-adhesive grippers, in particular, have received significant attention due to their role in enhancing object grasping and manipulation capabilities. While much of the existing research has focused on improving electro-adhesion through advancements in EA film and nanoparticle modifications, this study takes a different approach by integrating electro-adhesion as an auxiliary function within a mechanical gripper. This integration allows for a novel hybrid gripper that uses electro-adhesive force to reduce the required normal force during gripping, thereby improving the handling of challenging objects. We thoroughly analyzed the gripper's geometric design, along with its kinematic and mechanical properties. Our study also examined crucial performance parameters, such as nanoparticle content, composition, and electrode design, to optimize the generation and maintenance of electro-adhesion. To confirm performance, the developed gripper was affixed to a UR3 robotic manipulator from Universal Robotics, and gripping experiments on assorted objects, as well as anti-slip control experiments, were carried out. The results demonstrated that the integration of electro-adhesive force with a mechanical gripper significantly enhances gripping capability, particularly in terms of slip control and friction variation. This indicates that the Electro-Adhesive (EA) film hybrid gripper presents a novel and effective approach to advancing gripping and manipulation technologies. © 2024