Robot and gripper with synthetic fibrillar adhesive

A gripper configured to grasp an object, comprising:

• a shell;
• and
• at least two finger assemblies, each comprising:
• a connecting rod movably connected to the shell;
• a pad portion connected to the connecting rod, wherein the connecting rod is configured to drive the pad portion to grasp the object under a driving force;
• a layer of synthetic fibrillar adhesive attached to the pad portion;
• and
• at least one loading component connected between the layer of synthetic fibrillar adhesive and the pad portion, the at least one loading component configured to transmit shear force from the pad portion to the layer of synthetic fibrillar adhesive in a first direction from the shell toward the layer of synthetic fibrillar adhesive and to transmit shear force from the pad portion to the layer of synthetic fibrillar adhesive in a second direction perpendicular to the first direction, the at least one loading component comprising:
• a body portion attached between the layer of synthetic fibrillar adhesive and the pad portion;
• a first tendon connected between the body portion and a first side of the pad portion, the first tendon configured to transmit shear force from the pad portion to the layer of synthetic fibrillar adhesive in the first direction;
• and
• a second tendon connected between the body portion and a second side of the pad portion, the second tendon configured to transmit shear force from the pad portion to the layer of synthetic fibrillar adhesive in the second direction,
• wherein when the gripper lifts the object, the layer of synthetic fibrillar adhesive is activated by gravity such that a contact area and an adhesion force increase between microfibers of the layer of synthetic fibrillar adhesive and the object.

A robot having a gripper and configured to grasp an object, the gripper comprising:

• a shell;
• and
• at least two finger assemblies configured to grasp the object on two opposite sides of the object respectively, each of the two finger assemblies comprising:
• a connecting rod movably connected to the shell;
• a pad portion connected to the connecting rod, wherein the connecting rod is configured to move the pad portion towards the object under a driving force;
• a layer of synthetic fibrillar adhesive attached to the pad portion, wherein microfibers of the layer of synthetic fibrillar adhesive are inclined away from the shell;
• and
• at least one loading component connected between the layer of synthetic fibrillar adhesive and the pad portion, the at least one loading component configured to transmit shear force from the pad portion to the layer of synthetic fibrillar adhesive in a first direction from the shell toward the layer of synthetic fibrillar adhesive and to transmit shear force from the pad portion to the layer of synthetic fibrillar adhesive in a second direction perpendicular to the first direction, the at least one loading component comprising:
• a body portion attached between the layer of synthetic fibrillar adhesive and the pad portion,
• a first tendon connected between the body portion and a first side of the pad portion, the first tendon configured to transmit shear force from the pad portion to the layer of synthetic fibrillar adhesive in the first direction, and
• a second tendon connected between the body portion and a second side of the pad portion, the second tendon configured to transmit shear force from the pad portion to the layer of synthetic fibrillar adhesive in the second direction.