# US 10,933,535 B2 · Robot and gripper with synthetic fibrillar adhesive > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,933,535 B2 - Document ID: US10933535B2 - Status: Granted - Kind: B2 - Application number: 16/545,246 - Filed: 2019-08-20 - Published: 2020-02-27 - Granted: 2021-03-02 - Earliest claimed: 2018-08-22 - Assignees: Flexiv Ltd. - Applicants: Flexiv Ltd. - Inventors: Hao Jiang; Shiquan Wang - Web page: https://patentgrep.com/patent/US10933535B2 ## CPC - B25J 15/008: {with sticking, gluing or adhesive means} - B25J 15/0266: {actuated by articulated links} - B25J 15/0028: {with movable, e.g. pivoting gripping jaw surfaces} - 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}) ## Abstract A gripper and a robot are provided. The gripper may include a shell and at least two finger assemblies. The finger assemblies are utilized to grasp an object on two opposite sides of the object. Each finger assembly may include a connecting rod, a pad portion and a layer of synthetic fibrillar adhesive. The connecting rod may be movably connected to the shell. The pad portion may be connected to the connecting rod, and the connecting rod may move the pad portion towards the object under a driving force. The layer of synthetic fibrillar adhesive may be attached to the pad portion. Microfibers of the layer of synthetic fibrillar adhesive may be inclined away from the shell. ## Claims ### Claim 1 A gripper configured to grasp an object, 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 at least 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. ### Claim 2 (depends on 1) The gripper of claim 1, wherein the gripper is further configured to lift the object; 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. ### Claim 3 (depends on 1) The gripper of claim 1, wherein each of the at least two finger assemblies further comprises a compliant layer attached between the loading component and the pad portion. ### Claim 4 (depends on 1) The gripper of claim 1, wherein an inclination direction of a portion of the microfibers of the layer of synthetic fibrillar adhesive is different from that of another portion of the microfibers. ### Claim 5 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. ### Claim 6 (depends on 5) The gripper of claim 5, wherein each of the at least two finger assemblies further comprises a compliant layer attached between the layer of synthetic fibrillar adhesive and the pad portion. ### Claim 7 (depends on 5) The gripper of claim 5, wherein an inclination direction of a portion of the microfibers of the layer of synthetic fibrillar adhesive is different from that of another portion of the microfibers. ### Claim 8 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. ### Claim 9 (depends on 8) The robot of claim 8, wherein the gripper is further configured to lift the object; 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. ### Claim 10 (depends on 8) The robot of claim 8, wherein each of the at least two finger assemblies further comprises a compliant layer attached between the loading component and the pad portion. ### Claim 11 (depends on 8) The robot of claim 8, wherein an inclination direction of a portion of the microfibers of the layer of synthetic fibrillar adhesive is different from that of another portion of the microfibers.