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US 2014/0227473 A1Published application
Grippers based on opposing van der waals adhesive pads
AssigneeCalifornia Institute of Technology
InventorsAaron PARNESS, Brett A. KENNEDY, Matthew C. HEVERLY
Life of this patent
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Abstract
Novel gripping structures based on van der Waals adhesive forces are disclosed. Pads covered with fibers can be activated in pairs by opposite forces, thereby enabling control of the adhesive force in an ON or OFF state. Pads can be used in groups, each comprising a group of opposite pads. The adhesive structures enable anchoring forces that can resist adverse forces from different directions. The adhesive structures can be used to enable the operation of robots on surfaces of space vehicles.
Claims9
A structure comprising:
- at least two pads, each having a first surface and a second surface, wherein the at least two pads are spaced apart substantially a same distance from a center of symmetry of the structure;
- a plurality of fibers attached to the first surface of each pad, wherein the fibers substantially extend longitudinally in a direction away from the first surface;
- connecting elements, attached to the second surface of each pad, the connecting elements forming a mechanical supporting structure linking together the at least two pads;
- actuating elements, attached to the second surface of each pad, the actuating elements forming an actuating link between the at least two pads, wherein, during operation, the at least two pads are pulled in a tensing direction by the actuating elements, the tensing direction being towards or away from the center of symmetry, wherein a bending direction of the plurality of fibers of each pad is substantially opposite to the tensing direction, and wherein the plurality of fibers is configured to bend and compress against a surface external to the structure to enable adhesion through van der Waals forces.
1 more element
Dependencies are inferred from the claim text.