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Page 1: Grasping everything

Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 11

Gripping technologies 1

G. Fantoni

Department of Civil and Industrial EngineeringUniversity of Pisa (Italy)

NEWTECH 2013

1 on the basis of the paper “Grasping devices and methods in automated production processes” , CIRP Annals - Manufacturing

Technology, Volume 63, Issue 2, 2014,

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Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 2NEWTECH 2013 G. Fantoni - Gripping technology

Remarks

• The presentation has been prepared for NewTech Conference 2013 and it is titled Gripping Technology. However it is based on the CIRP Keynote paper titled «Grasping devices and methods in automated production processes».

• Please refer to this presentation by citing the paper as: Fantoni, G., Santochi, M., Dini, G., Tracht, K., Scholz-Reiter, B., Fleischer, J., Lien, T.K., Seliger, G., Reinhart, G.,Franke, J., Hansen, H.N., Verl, A.,2014, Grasping devices and methods in automated production processes, CIRP Annals - Manufacturing Technology, Volume 63, Issue 2, 2014, Pages 679-701, ISSN 0007-8506, http://dx.doi.org/10.1016/j.cirp.2014.05.006.

• The final version of the present paper can be found at http://www.sciencedirect.com/science/article/pii/S0007850614001887

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Outline

• Standard definition and abstract definition• Grasping process

– Grasping principles– Releasing principles– Monitoring principles

• Trends• Why not?• Conclusions• Acknowledgements

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Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 4NEWTECH 2013 G. Fantoni - Gripping technology

Outline

• Standard definition and abstract definition• Grasping process

– Grasping principles– Releasing principles– Monitoring principles

• Trends• Why not?• Conclusions• Acknowledgements

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Gripper: definition

“a subsystems of handling mechanisms which provide temporary contact with the object to be grasped [..] and ensure the position and orientation when carrying and mating the object to the handling equipment [..]; the term “gripper” is also used in cases where no actual grasping, but rather holding of the object where the retention force can act on a point, line or surface [..]” Monkman et al. Robot grippers

In abstract terms: h. mechanisms + Block/Hold + object + temporaryThat means that after grasping some of the DOF of G. and O. are the same

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Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 6NEWTECH 2013 G. Fantoni - Gripping technology

Cases of «not standard» grippers

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Outline

• Standard definition and abstract definition• Grasping process

– Grasping principles– Releasing principles– Monitoring principles

• Trends• Why not?• Conclusions• Acknowledgements

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Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 8NEWTECH 2013 G. Fantoni - Gripping technology

The grasping process

1. Approaching the object: the gripper is positioned nearby the object.2. Coming into contact with the object surface3. Increasing the grasping force: the grasping force is increased, within certain limits.4. Securing the object. The force stops increasing. The dof of the object are removed 5. Lifting the object;6. Releasing the object. Issue at the microscale;

Monitoring the grasp: direct or indirect control of force, torque, stick slip sensors, contact.

8

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But is it true?

FEEDING GRASPING HANDLING PLACING

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But is it true?

FEEDING GRASPING HANDLING PLACING

Steel sheetsPorous plies

NS

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Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 11NEWTECH 2013 G. Fantoni - Gripping technology

But is it true?

FEEDING GRASPING HANDLING PLACING

Steel sheetsPorous plies

NS

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But is it true?

FEEDING GRASPING HANDLING PLACING

High accelerations

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Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 13

Adhesion problems in micro assembly

Force between a silicon sphere and plane (by Fearing)

10-310-410-510-610-15

10-10

10-5

100

radius of the sphere [m]

forc

e [N

]

NEWTECH 2013 G. Fantoni - Gripping technology

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Releasing??

Releasing problems only at microscale? FALSE

permanent magnets on rotors of electric drives Sol-Gel dough products Frozen products

An for sure at micro and nano scale

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Outline

• Standard definition and abstract definition• Grasping process

– Grasping principles– Releasing principles– Monitoring principles

• Trends• Why not?• Conclusions• Acknowledgements

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Grasping principles

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Standard Friction and Jaw grippers

Friction-jaw mechanical grippers sx) two fingers; centre) single moving finger; dx) microgripper piezoelectricallyactuated.

20°

90°90°

20°

a)

c) d)

b)

See FestoSee Monkman

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Friction and Jaw grippers: standard?

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Vacuum grippers

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Vacuum: the key tech in SMDs assembly

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Needle gripper

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Bernoulli grippers

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Capillary grippers

To release parts grasped by capillary grippers:

- Scratching agaist an edge,

- Two different fluids, - Changing the gripper

curvature, - Electrowetting.

At microscale capillary grippers have been used owing to their flexibility and reliability; have a compliant behaviour and a self-centring effect; capability of grasping small and light components in a wide range of materials and shapes; capability of handling delicate components as the meniscus between the gripper and the object has a “bumper” effect.

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Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 24NEWTECH 2013 G. Fantoni - Gripping technology

Capillary principle

TT

T T

Gripper

mg

pa

p l

α 1α 2

Fc=FL+FT (1)FL= 2 HπRa

2 (2)FT= 2πRaγsin(θ+α) (3)

In the previous equations γ is the surface tension (for water ~7210-3Nm-1) and H=2(1/r0-1/r1).

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Capillary grippers

• Reliable• Self centering• Compliant• It can work without refilling for more than

1000 times (grasping-releasing cycles)

• It leaves traces and can stain lenses or surface finished parts (mirrors, optics)

• Particular care in its use with SMDs and other electronic components

• Often the process need for a following phase of heating in order to remove (by evaporation) the liquid

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Capillary grippers: grasping and releasing

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Working principle of theadhesion gripper able to“grasp” and release micropartsby a curvature change.

GraspingMoving Releasing

Capillary grippers: grasping and releasing

NEWTECH 2013 G. Fantoni - Gripping technology

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Grasping and releasing microparts exploiting liquids with different surface tensions

A novel grasping and releasing strategy for microparts exploiting liquids with different surface tensions[Fantoni, Porta, Santochi]

Releasing Force

h [mm] Vol [mm3]

Fc [m

N]

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High reliability Centring effect

Many tests, all succeeded100% reliability

Also for very small ‘releasing’ volume

Results

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Capillary grippers

Multiple grasping[Lambert,2005]

Extensions to macroscale?

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Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 31NEWTECH 2013 G. Fantoni - Gripping technology

«ice» gripper

More in general we can define them as «phase transition grippers», they exploit the transition of a material from liquid to ‘solid’.

Ultrasonic-assisted adhesive for limp and air-permeable textiles

Ice gripperfor limp and air-permeable textiles

Ice gripperfor

microlenses

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Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 32NEWTECH 2013 G. Fantoni - Gripping technology

Electrostatic principle

Conductive

Dielectric

Conductive or dielectric

+ + + + + + + + + +

- - - - - - - - -

V

(a)

+ + + +

- - - -- - -

V

- - -- - -

+ + + +

+ + + +

(d)

V

(c)- - - - - - - - - - - - - - -

+ + + + + + + + + +

- - - - - - -+ + + + +

V

- - - - - - - - - - - - - - -- - - - - - -+ + + + +

(b)

+ + + + + + + +

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Electrostatic grippers

Electrostatic forces: experimental evidences

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HV

Glass substrate

Conductiveworking plane

Cross gripper

Cross gripper

Grasped component

conductive+++++++++++++++

V- - - - - - - - - - - - - - -

V0

Electrostatic Microgrippers

- + - + - +

[ Hesselbach ]

[ Enikov ]

[ Fantoni ]

NEWTECH 2013 G. Fantoni - Gripping technology

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Electrostatic Microgrippers with centering capabilities

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Van der WaalsVan der Waals

CapillaryCapillaryElectrostaticForcesElectrostaticForces

gg

Adhesion forceAdhesion force

Force acting at the micro scale

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Van der Waals forces

Towards gecko tapes

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a b c d

Adhesive grippers: grasping and releasing

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Ultrasound «gripper»

Sonodrote: the parts are moved by the air pressure generated by a sonodrote. The parts levitate above the plate.

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Outline

• Standard definition and abstract definition• Grasping process

– Grasping principles– Releasing principles– Monitoring principles

• Trends• Why not?• Conclusions• Acknowledgements

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Releasing strategies

Collection of strategies and approaches to release parts mainly at micro level.

[Arai], [Fearing], [Fantoni], [Van Brussel]

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Releasing part 1

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Releasing part 2

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Outline

• Standard definition and abstract definition• Grasping process

– Grasping principles– Releasing principles– Monitoring principles

• Trends• Why not?• Conclusions• Acknowledgements

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Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 45NEWTECH 2013 G. Fantoni - Gripping technology

The grasping process

1. Approaching the object: the gripper is positioned nearby the object.2. Coming into contact with the object surface3. Increasing the grasping force: the grasping force is increased, within certain limits.4. Securing the object. The force stops increasing. The dof of the object are removed 5. Lifting the object;6. Releasing the object. Issue at the microscale;

Monitoring the grasp: direct or indirect control of force, torque, stick slip, contact.

45

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Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 46NEWTECH 2013 G. Fantoni - Gripping technology

The monitoring methods

Sensing principles: a) Mechanical switch; b) electrical sensor; c) photoelectric sensor; d) vision based; e) tactile sensor; f) strain gauges; g) force/torque sensor; h) vision based; i) capacitive or electrostatic; j) led-photodiode (often IR); k) vision based monitoring.

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Piezoresitive

Indirect force measuring system

The monitoring methods

x-sensor

y-sensor

z-sensor

gripper GEH6030

adapter plate

xy

z

gripper finger 1

gripper finger 2

Strain gauges

[Tracht]

[Fantoni]

Flat‐packinductiveproximitysensor

Capacitive sensor

NEWTECH 2013 G. Fantoni - Gripping technology

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Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 48NEWTECH 2013 G. Fantoni - Gripping technology

Outline

• Standard definition and abstract definition• Grasping process

– Grasping principles– Releasing principles– Monitoring principles

• Trends• Why not?• Conclusions• Acknowledgements

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Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 49NEWTECH 2013 G. Fantoni - Gripping technology

Trends

• More than one single principle per time• Soft one piece gripper (silicon or AM)• High coupling• Active surfaces• New «principles» and «strategies»• Underactuated grippers• Bimanual handling• Lightweight grippers

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Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 50NEWTECH 2013 G. Fantoni - Gripping technology

Trends

• More than one single principle per time• Soft one piece gripper (silicon or AM)• High coupling• Active surfaces• New «principles» and «strategies»• Underactuated grippers• Bimanual handling• Lightweight grippers

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Hybrid Grippers

Electroadhesive + Force Bernoulli + «Form»Form + Force

+ Vacuum

A new generation of hybrid grippers seems emerging:

• More than two principles per gripper• Increasing object-gripper coupling

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Vacuum + Friction2 vacuum cups

additional vacuum cup

flap

parcel

telescopic slide-out

parcel parcel

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Electrostatic + Form

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Jamming technology for graspingForm + Friction + Vacuum (+ liquid/solid transition)

The Jamming Gripper is based on agranular material contained in aflexible membrane. The latex balloonmembrane is connected to the basethrough a collar, producing an airtightseal. The collar is the rigid part of thegripper (when not actuated) and helps toguide the gripper and to fit its shape tothe target. When the gripper and theobject are coupled, vacuum is providedand a transition from deformable torigid state generates the grasping force(grasping based on friction).

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Working modes

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Electrostatic Peltiér

Micro distributed vacuum cups Adhesive silicon gripper

Programmable Switchable

Adhesive +distributed

vacuum

NEWTECH 2013 G. Fantoni - Gripping technology

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Trends

• More than one single principle per time• Soft one piece gripper (silicon or AM)• High coupling• Active surfaces• New «principles» and «strategies»• Underactuated grippers• Bimanual handling• Lightweight grippers

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Soft grippers

a) b) c) d)

e)

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Additive manufactured gripper

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Trends

• More than one single principle per time• Soft one piece gripper (silicon or AM)• High coupling• Active surfaces• New «principles» and «strategies»• Underactuated grippers• Bimanual handling• Lightweight grippers

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Increasing gripper d.o.f.

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Flexible and compliant friction gripper

The “hose gripper” is a flexiblegripper, formed of a double-walledhose filled with water or air. Thishose is contained into a pipe andactuated by a plunger that moves upand down into the double-walledhose. To make the gripper capable ofgrasping and lifting objects, theunderside of the hose is located overthe object, thus partially covering theobject’s surface. When the plungerraises, the hose and the object areroped into the rigid pipe. Thereleasing is performed moving backthe plunger.The grasping is performed byexploiting both form and forceclosure (friction).

62NEWTECH 2013 G. Fantoni - Gripping technology

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Compliant Vacuum Cups

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Handling of flexible materials: leather plies

64

Since its flexibility, the compliantvacuum cup is able to maintain thegrasping also in case of deformableobjects (leather plies, textiles, etc..).During handling, the borders of theobjects fall down due to gravity.Therefore the entire object deformsand, if the vacuum cup does notfollow the object shape, the vacuumdecreases and the object is released.

The compliancy of the vacuum cup(due to both design and material)allows a reliable securing phase.

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vacuum vacuum

vacuum

Adaptable + self-activating valves

NEWTECH 2013 G. Fantoni - Gripping technology

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Various approaches to adaptability

[Scott] [Pettersson]

[Jonas]

[Reinhart]

NEWTECH 2013 G. Fantoni - Gripping technology

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Trends

• More than one single principle per time• Soft one piece gripper (silicon or AM)• High coupling• Active surfaces• New «principles» and «strategies»• Underactuated grippers• Bimanual handling• Lightweight grippers

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Active surfaces

a) b)

c) d)

a) Roll-on gripper

b) Velvet fingers

c) Traction gripper

d) Robin Read’s g.

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Roll-on gripper

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Traction gripper for logistic applications

The Traction Gripper consists of double belt conveying units arranged perpendicular to each other. Each unit has traction belts that exert a friction force allowing the grasping of several shape goods. Each conveyor belts has a separate drive chain. The inward conveying motion of the traction belts causes friction between the active surfaces. The object is pulled into the right angle and held there firmly.

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Velvet Fingers

Externalpresentation

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Trends

• More than one single principle per time• Soft one piece gripper (silicon or AM)• High coupling• Active surfaces• New «principles» and «strategies»• Underactuated grippers• Bimanual handling• Lightweight grippers

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From Micro to Macro and viceversa

[Parness]

Van der Waals NeedleCapillary

Cutkosky [Lanzetta]

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Terrific forces

Video[Cutkosky], [Parness]

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Lamellae—mm scale

Branches—μm scale

Setae—10s of μms

Spatulae—10s of nms

[Autumn], [Parness] Contact features use van der Waals forces

The Gecko Adhesive System

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Synthetic Gecko Adhesive

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Loading the Wedges

Moderately LoadedAdhesion ON

Heavily LoadedHIGH Adhesion ON

Load Direction

UnloadedAdhesion OFF

NEWTECH 2013 G. Fantoni - Gripping technology

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Gecko Gripper (1)

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NanoForceGripper by FESTO

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Jamming for everything

Jamming for finger pads (roof tiles)

Jamming for trunc

Jamming for joints

Jamming for palm

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Outline

• Standard definition and abstract definition• Grasping process

– Grasping principles– Releasing principles– Monitoring principles

• Trends• Why not?• Conclusions• Acknowledgements

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Why not?

– Tree frogs– Cargofloor® and Switl®– Tixotropic / dilatants /rehopetic grippers– Magnetic fluids+adaptable surfaces

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Toward a new adhesive gripper

W Federle, W.J.P Barnes, W Baumgartner, P Drechsler and J.M Smith, Wet but not slippery: boundary friction in tree frog adhesivetoe pads J. R. Soc. Interface 2006 3, 689-697

component

GRASP

Hydrophobic areas

Hydrophillic areas

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Toward a new adhesive gripper: skin and pulp

Frog Fingeprint (SEM)

Supehydrophobic surface

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Theoretical model

mg

h*

xa1

F2mg

h*

F1mg

A

B

C

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xa1

xa2

xa3

F4

F1

F3

mg

mg

mg

R Theoretical model

water

superhydrophobic

water

hydrophobicwater

hydrophilic

Hydrophobic ring

D

E

F

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Concept design

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Active surfaces for grasping and releasing of microparts

Programmable hydrophobic surfaces [Fantoni, Zang, Tosello, Hansen] in progress

Standard Treated

Grasping and releasing of microparts by using active hydrophillic-phobic surfaces[Fantoni, Hansen, Santochi ]

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Other principles?

Cargo floor: stick slip motion through selective surfaces activation

SWITL: an active shovel able to pick up even semi-liquid materials

Tixotropic liquids: their viscosity changes with the movement. e.g. S. Gennaro’s blood, wine, maionnaise, ketchup, quicksands, etc..

But can smart fluids be used?

Dilatants fluids: what for in microassembly?

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Outline

• Standard definition and abstract definition• Grasping process

– Grasping principles– Releasing principles– Monitoring principles

• Trends• Why not?• Conclusions• Acknowledgements

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Conclusions

• Research activities– RobLog (7° EU project) – MicroGrippers expoliting structured surfaces– Extension of the grasping principles from micro to macro– Continue the research on compliant, actuated, hyerarchical

surfaces

• Search for partners for joint projects and exchange of students

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Aknowledgements

• Newtech 2013 Organizing commitee(mainly my former student Antonio Maffei)

• RobLog project (7° FP) • Fantoni, G., Santochi, M., Tracht, K., Dini, G., Scholz-Reiter,

B., Fleischer, J., Lien, T.K., Seliger, G., Reinhart, G., Franke, J., Hansen, H.N., Verl, A., 2014, Grasping devices and methods in automated production processes

Thank You for your attention!

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Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 107107

Gripping technologies 1

G. Fantoni [email protected]

Department of Civil and Industrial EngineeringUniversity of Pisa (Italy)

NEWTECH 2013

1 on the basis of the paper “Grasping devices and methods in automated production processes” , CIRP Annals - Manufacturing

Technology, Volume 63, Issue 2, 2014,


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