Conventional industrial grippers that grip a flat object generally hold objects by using suction or electrostatic force. However, these grippers have limitations when gripping thin, flat, and flexible objects, such as films and flexible printed circuit boards (FPCBs), due to their undefined shape and high flexibility. This paper proposes a soft gripper that can grip flexible and thin objects by utilizing directional adhesives and a compliant mechanism. The directional adhesive pad is fabricated by a three-dimensional (3D) printing process for cost-effective and environment-friendly manufacturing. However, fabrication by 3D printing has disadvantages in terms of the quality of the adhesive surface. An additional coating process presented in this study compensates for the low resolution of 3D printing by improving smoothness. Moreover, an additional coating process is a simple approach for developing directional adhesives with enhanced adhesion strength by deforming the tip shape without a sophisticated fabrication process. The adhesion of adhesives with curved pillars is enhanced compared to adhesives with simple wedge-shaped pillars. The maximum normal adhesion force of the gripper is measured to be 0.47 N (1.57 kPa), and 95% of the initial adhesion is retained after ten thousand attachment/detachment cycles. The adhesion force can be recovered by the cleaning process when the contaminant is attached to the adhesive. The final demonstration shows that the gripper can handle various objects for potential applications such as in green-environmental industries.

抓握扁平物体的传统工业抓手通常通过吸力或静电力来抓握物体。然而，由于形状不确定且灵活性高，这些夹持器在夹持薄、扁平和柔性物体（例如薄膜和柔性印刷电路板 (FPCB)）时存在局限性。本文提出了一种软抓手，它可以通过利用定向粘合剂和柔顺机制来抓握柔韧的薄物体。定向粘合垫是通过三维（3D）打印工艺制造的，具有成本效益和环保制造的特点。然而，通过 3D 打印制造在粘合表面的质量方面存在缺点。本研究中提出的额外涂层工艺通过提高平滑度来补偿 3D 打印的低分辨率。而且，额外的涂层工艺是一种简单的方法，通过使尖端形状变形，无需复杂的制造工艺，即可开发具有增强粘合强度的定向粘合剂。与具有简单楔形柱的粘合剂相比，具有弯曲柱的粘合剂的粘附力得到增强。夹具的最大法向附着力测量为 0.47 N (1.57 kPa)，并且在一万次附着/分离循环后保留了 95% 的初始附着力。当污染物附着在粘合剂上时，可以通过清洁过程恢复粘合力。最后的演示表明，夹持器可以处理各种潜在应用的物体，例如绿色环保行业。