Shape memory polymer adhesive gripper for pick-and-place applications
Son, ChangHee
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https://hdl.handle.net/2142/105940
Description
Title
Shape memory polymer adhesive gripper for pick-and-place applications
Author(s)
Son, ChangHee
Issue Date
2019-07-17
Director of Research (if dissertation) or Advisor (if thesis)
Kim, Seok
Department of Study
Mechanical Sci & Engineering
Discipline
Mechanical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
Shape Memory Polymer
Adhesives
Gripper
Abstract
Over the past few years, shape memory polymers (SMPs) have been extensively studied in term of their remarkable reversible dry adhesive properties and related smart adhesive applications. However, these exceptional properties of SMPs have not been exploited for pick-and-place applications, which would otherwise advance the robotic manipulation. This work explores the use of SMPs to design an adhesive gripper which pick and place target solid objects relying on reversible dry adhesion of SMP. Compared with common finger or soft grippers, the SMP adhesive gripper interacts with a single surface of a target object for pick-and-place. Furthermore, it is easy and inexpensive to manufacture and applicable to various surfaces since it involves reversible dry adhesion. In this paper, associated physical mechanisms and temperature analyses are studied and conducted. Also, the study includes manufacturing of a dual SMP and a release tip which substantially enhances the adhesion strength and considerably minimizes the releasing force. Finally, the versatility and utility of the SMP adhesive gripper are demonstrated through pick-and-place experiments.
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