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scott–russell mechanism

Robotica (1)

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Development of a gecko-like robotic gripper using Scott–Russell mechanisms
Mehdi Modabberifar, Matthew Spenko
Journal:

Robotica / Volume 38 / Issue 3 / March 2020

Published online by Cambridge University Press:

14 June 2019, pp. 541-549
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This paper describes the development of a gecko-inspired robotic gripper for grasping flat objects using Scott–Russell mechanisms. Compared to previously reported grippers that utilize gecko-like adhesives, the one presented here produces higher normal adhesion and has robustness and controllability advantages. To verify the applicability of proposed gripper, a mechanical model and experimental results on a variety of substrates are presented. The experimental results demonstrated a 19.6% and 50% increase in normal adhesion using a preload of <15 and <30 N, respectively, compared to previously reported results under similar testing parameters and conditions.