Reversible and variable dry adhesion is a promising approach for versatile robotic grasping. Variable stiffness materials with a modulus that can be tuned using an external stimulus offer a unique approach to realize dynamic control of adhesion. In this study, an unstructured shape memory polymer (SMP) membrane with variable stiffness is used to pick-and-place three-dimensional objects. The variable stiffness of the SMP allows the membrane to conform to and make good contact with objects of various shapes in its soft state and then achieve high adhesive load capacity by switching to the stiff state. Release of objects is realized by switching to the soft state. The ratio between the high-adhesion and low-adhesion state is demonstrated to be >2000 on a curved substrate and ∼115 on a flat substrate. This gripper exhibits no adhesion in the unactivated state and maintains adhesion passively once actuation is complete.

中文翻译：

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通过非结构化可变刚度膜实现基于粘附的多功能抓取

可逆和可变干粘附是一种用于多功能机器人抓取的有前途的方法。具有可以使用外部刺激进行调整的模量的可变刚度材料提供了一种实现粘附力动态控制的独特方法。在这项研究中，具有可变刚度的非结构化形状记忆聚合物 (SMP) 膜用于拾取和放置三维物体。SMP 的可变刚度允许膜在其柔软状态下符合并与各种形状的物体良好接触，然后通过切换到刚性状态实现高粘合负载能力。对象的释放是通过切换到软状态来实现的。高粘附力和低粘附力状态之间的比率在弯曲基板上显示为 >2000，在平坦基板上显示为~115。