# US 10,773,394 B2 · Opposed, controllable gecko adhesive gripper system with scalable manufacturability > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,773,394 B2 - Document ID: US10773394B2 - Status: Granted - Kind: B2 - Application number: 16/113,239 - Filed: 2018-08-27 - Published: 2019-02-28 - Granted: 2020-09-15 - Earliest claimed: 2017-08-25 - Assignees: Flexiv Ltd. - Applicants: Flexiv Ltd. - Inventors: Hao Jiang; Shiquan Wang - Web page: https://patentgrep.com/patent/US10773394B2 ## CPC - B25J 15/008: {with sticking, gluing or adhesive means} - B25J 15/0052: {multiple gripper units or multiple end effectors} - B32B 3/06: for securing layers together; for attaching the product to another member, e.g. to a support {, or to another product, e.g. groove/tongue, interlocking} - B32B 3/08: characterised by added members at particular parts {(layer formed of separate pieces of material which are juxtaposed side-by-side B32B3/14, B32B3/18)} - B32B 7/12: using interposed adhesives or interposed materials with bonding properties - B32B 15/08: of synthetic resin - B32B 15/082: comprising vinyl resins; comprising acrylic resins - B32B 15/088: comprising polyamides - B32B 15/09: comprising polyesters - B32B 15/18: comprising iron or steel {(B32B15/011, B32B15/012 and B32B15/013 take precedence)} - B32B 15/20: comprising aluminium or copper {(B32B15/016 and B32B15/017 take precedence)} - B32B 27/08: of synthetic resin - B32B 27/12: next to a fibrous or filamentary layer - B32B 27/281: {comprising polyimides} - B32B 27/308: {comprising acrylic (co)polymers} - B32B 27/36: comprising polyesters - B32B 2250/03: 3 layers - B32B 2250/40: Symmetrical or sandwich layers, e.g. ABA, ABCBA, ABCCBA - B32B 2262/101: Glass fibres - B32B 2262/106: Carbon fibres, e.g. graphite fibres - B32B 2307/546: Flexural strength; Flexion stiffness - B32B 2307/732: Dimensional properties - B32B 2405/00: Adhesive articles, e.g. adhesive tapes - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B32B: LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM ## Abstract A gripper system is provided that includes first and second linear carriages and first and second gecko adhesive patches. The gecko adhesive patches may have first and second surfaces, and a thin rigid backing may be attached to the second surface of the gecko adhesive patches. At least one layer of non-stretchable, flexible film may be glued to the thin rigid backing and a thick rigid backing may be glued to the film. The gripper system may further include a loading film. In other embodiments, the gripper system may include first and second pluralities of support tendons, which may connect the gecko adhesive patches to the carriages. ## Claims ### Claim 1 A gripper system comprising: a first linear carriage; a second linear carriage spaced apart from the first linear carriage; a first gecko adhesive patch, having first and second surfaces, wherein the first surface consists of a microwedge controllable adhesive; a second gecko adhesive patch, having a first and second surface, wherein the first surface consists of a microwedge controllable adhesive; at least one thin rigid backing, attached to the second surface of the first and second gecko adhesive patches; at least one layer of non-stretchable, orthogonal flexible film glued to the thin rigid backing; and a thick rigid backing glued to the film, wherein the thick rigid backing further comprises a loading film connected to the thick rigid backing and one of the first or second linear carriage. ### Claim 2 (depends on 1) The gripper system of claim 1, wherein the thick rigid backing is connected to the first and second linear carriages. ### Claim 3 (depends on 1) The gripper system of claim 1, wherein the first and second linear carriages are constrained on a linear rail and connected with a spring. ### Claim 4 (depends on 1) The gripper system of claim 1, further comprising: a first plurality of support tendons connected to the first gecko adhesive patch and the first linear carriage; and a second plurality of support tendons connected to the second gecko adhesive patch and the second linear carriage. ### Claim 5 (depends on 4) The gripper system of claim 4, further comprising: a third plurality of support tendons, wherein at least one of the third plurality of support tendons is connected to the first gecko adhesive patch and a load tendon, and wherein at least one of the third plurality of support tendons is connected to the second adhesive patch and the load tendon. ### Claim 6 (depends on 4) The gripper system of claim 4, wherein the first gecko adhesive patch is rectangular in shape and the first plurality of support tendons includes support tendons connected between each of at least three edges of the first gecko adhesive patch and the first linear carriage, and wherein the second gecko adhesive patch is rectangular in shape and the second plurality of support tendons includes support tendons connected between each of at least three edges of the second gecko adhesive patch and the second linear carriage. ### Claim 7 (depends on 5) The gripper system of claim 5, wherein the first and second pluralities of support tendons are taut, and the third plurality of support tendons has slack when the gripper system is not under a load. ### Claim 8 (depends on 1) The gripper system of claim 1, wherein the microwedge controllable adhesive of the first and second gecko adhesive patches includes a plurality of microwedges that bend under shear load to increase the surface area of contact with a surface and thereby adhere to the surface. ### Claim 9 (depends on 1) The gripper system of claim 1, further comprising at least three layers of non-stretchable, orthogonal flexible film glued to the thin rigid backing. ### Claim 10 (depends on 1) The gripper system of claim 1, further comprising a soft material attached to the thick rigid backing and the first or second linear carriage. ### Claim 11 A gripper system comprising: a first linear carriage; a second linear carriage spaced apart from the first linear carriage; a first gecko adhesive patch, having first and second surfaces, wherein the first surface consists of a microwedge controllable adhesive; a second gecko adhesive patch, having a first and second surface, wherein the first surface consists of a microwedge controllable adhesive; at least one thin rigid backing, attached to the second surface of the first and second gecko adhesive patches; at least one layer of non-stretchable, orthogonal flexible film glued to the thin rigid backing; a thick rigid backing glued to the film; and a soft material attached to the thick rigid backing and the first or second linear carriage. ### Claim 12 (depends on 11) The gripper system of claim 11, wherein the thick rigid backing further comprises a loading film connected to the thick rigid backing and one of the first or second linear carriage. ### Claim 13 (depends on 11) The gripper system of claim 11, wherein the thick rigid backing is connected to the first and second linear carriages. ### Claim 14 (depends on 11) The gripper system of claim 11, wherein the first and second linear carriages are constrained on a linear rail and connected with a spring. ### Claim 15 (depends on 11) The gripper system of claim 11, further comprising: a first plurality of support tendons connected to the first gecko adhesive patch and the first linear carriage; and a second plurality of support tendons connected to the second gecko adhesive patch and the second linear carriage. ### Claim 16 (depends on 15) The gripper system of claim 15, further comprising: a third plurality of support tendons, wherein at least one of the third plurality of support tendons is connected to the first gecko adhesive patch and a load tendon, and wherein at least one of the third plurality of support tendons is connected to the second adhesive patch and the load tendon. ### Claim 17 (depends on 16) The gripper system of claim 16, wherein the first and second pluralities of support tendons are taut, and the third plurality of support tendons has slack when the gripper system is not under a load. ### Claim 18 (depends on 15) The gripper system of claim 15, wherein the first gecko adhesive patch is rectangular in shape and the first plurality of support tendons includes support tendons connected between each of at least three edges of the first gecko adhesive patch and the first linear carriage, and wherein the second gecko adhesive patch is rectangular in shape and the second plurality of support tendons includes support tendons connected between each of at least three edges of the second gecko adhesive patch and the second linear carriage. ### Claim 19 (depends on 11) The gripper system of claim 11, wherein the microwedge controllable adhesive of the first and second gecko adhesive patches includes a plurality of microwedges that bend under shear load to increase the surface area of contact with a surface and thereby adhere to the surface. ### Claim 20 (depends on 11) The gripper system of claim 11, further comprising at least three layers of non-stretchable, orthogonal flexible film glued to the thin rigid backing.