第十五届全国表面工程青年学术会议

Gripping irregularly shaped and fast-moving objects is a key challenge in robotics. Adhesion-based technologies, valued for their energy efficiency, sustainability, and versatility, show promise but struggle with adaptability to 3D and dynamic objects. This study introduces a self-adaptive mechanical metamaterial (SAMM) adhesive for robust 3D and dynamic grasping, integrating multi-stable snap-fit structures, freely rotating ball-joint tips, and elastic adhesive films. The snap-fit structures provide height adaptation, while ball-joint tips enhance alignment flexibility, maximizing the SAMM adhesive’s adaptability and adhesion on 3D surfaces. Additionally, the snap-fit structures’ energy-absorbing capabilities ensure reliable capture of moving objects. On-demand detachment is then achieved by selectively pushing out snap-fit structures. Experiments demonstrate the SAMM adhesive’s unprecedented capabilities in capturing irregular and fast-moving objects, with the adhesion force increased by approximately 6.66-fold on spheres under the same radius, while the capturable velocity nearly doubled under the same impacting mass, compared to conventional designs. This innovation greatly broadens the workspace of intelligent adhesion technologies, providing a robust solution for manipulating irregular and dynamic objects and advancing applications like multifunctional assembly and space debris capture.

机器人抓手,智能粘附,多稳态超材料,形状自适应,动态抓取