High Force Density Gripping with UV Activation and Sacrificial Adhesion

Abstract

This paper presents a novel physical gripping framework intended for controlled, high force density attachment on a range of surfaces. Our framework utilizes a light-activated chemical adhesive to attach to surfaces. The cured adhesive is part of a ``sacrificial layer,'' which is shed when the gripper separates from the surface. In order to control adhesive behavior we utilize ultraviolet (UV) light sensitive acrylics which are capable of rapid curing when activated with 380nm light. Once cured, zero input power is needed to hold load. Thin plastic parts can be used as the sacrificial layers, and these can be released using an electric motor. This new gripping framework including the curing load capacity, adhesive deposition, and sacrificial methods are described in detail. Two proof-of concept prototypes are designed, built, and tested. The experimental results illustrate the response time (15-75s depending on load), high holding force density (10-30), and robustness to material type. Additionally, two drawbacks of this design are discussed: corruption of the gripped surface and a limited number of layers.