A Variable Stiffness Electroadhesive Gripper Based on Low Melting Point Alloys

作者：Chaoqun Xiang, Wenyi Li, Yisheng Guan · 发表于：Polymers · 年份：2022 · DOI：10.3390/polym14214469 · 被引用次数：18 · 研究领域：Soft Robotics and Applications、Advanced Sensor and Energy Harvesting Materials、Modular Robots and Swarm Intelligence

Electroadhesive grippers can be used to pick up a wide range of materials, and those with variable stiffness functionality can increase load capacity and strength. This paper proposes an electroadhesive gripper (VSEAF) with variable stiffness function and a simple construction based on low melting point alloys (LMPAs) with active form adaptation through pneumatic driving. Resistance wires provide active changing stiffness. For a case study, a three-fingered gripper was designed with three electroadhesive fingers of varied stiffness. It is envisaged that these electroadhesive grippers with variable stiffness would extend the preparation process and boost the use of electroadhesion in soft robot applications.