Grasping everything

Gripping technologies 1
1 on the basis of the paper “Grasping devices and methods in
automated production processes” , CIRP Annals - Manufacturing
Technology, Volume 63, Issue 2, 2014,
G. Fantoni
Department of Civil and Industrial Engineering
University of Pisa (Italy)
NEWTECH 2013
STC-A 2011 Fantoni G.- Active surfaces, materials and tools for assembly - 1

Remarks
• The presentation has been prepared for NewTech Conference 2013 and it is
titled Gripping Technology. However it is based on the CIRP Keynote
paper titled «Grasping devices and methods in automated production
processes».
• Please refer to this presentation by citing the paper as:
Fantoni, G., Santochi, M., Dini, G., Tracht, K., Scholz-Reiter, B., Fleischer, J.,
Lien, T.K., Seliger, G., Reinhart, G.,Franke, J., Hansen, H.N., Verl, A.,2014,
Grasping devices and methods in automated production processes, CIRP
Annals - Manufacturing Technology, Volume 63, Issue 2, 2014, Pages 679-
701, ISSN 0007-8506, http://dx.doi.org/10.1016/j.cirp.2014.05.006.
• The final version of the present paper can be found at
http://www.sciencedirect.com/science/article/pii/S0007850614001887
STNCE-WA T2E0C11H 2013 Fantoni G.- Active surfaGce.s ,F maantteorinalis -anGdr tiopoplsi nfogr atsescehmnbolylo-gy 2

Outline
• Standard definition and abstract definition
• Grasping process
– Grasping principles
– Releasing principles
– Monitoring principles
• Trends
• Why not?
• Conclusions
• Acknowledgements

Outline
• Trends
• Why not?
• Conclusions

Gripper: definition
“a subsystems of handling mechanisms which provide
temporary contact with the object to be grasped [..] and ensure
the position and orientation when carrying and mating the object
to the handling equipment [..]; the term “gripper” is also used in
cases where no actual grasping, but rather holding of the object
where the retention force can act on a point, line or surface [..]”
Monkman et al. Robot grippers
In abstract terms:
h. mechanisms + Block/Hold + object + temporary
That means that after grasping
some of the DOF of G. and O. are the same

Cases of «not standard» grippers

Outline
• Trends
• Why not?
• Conclusions

The grasping process
1. Approaching the object: the gripper is positioned nearby the object.
2. Coming into contact with the object surface
3. Increasing the grasping force: the grasping force is increased, within certain limits.
4. Securing the object. The force stops increasing. The dof of the object are removed
5. Lifting the object;
6. Releasing the object. Issue at the microscale;
Monitoring the grasp: direct or indirect control of force, torque, stick slip sensors, contact.

But is it true?
FEEDING GRASPING HANDLING PLACING

But is it true?
S
N
Porous plies Steel sheets

But is it true?
High accelerations

Adhesion problems in micro
assembly
Force between a silicon sphere and plane (by Fearing)
100
10-5
force [N]
10-10
10-6 10-5 10-4 10-3 10-15
radius of the sphere [m]
NEWTECH 2013 G. Fantoni - Gripping technology

Releasing??
Releasing problems only at microscale? FALSE
permanent magnets on
rotors of electric drives Sol-Gel dough products Frozen products
An for sure at micro and nano scale

Outline
• Trends
• Why not?
• Conclusions

Grasping principles

Standard Friction and Jaw grippers
Friction-jaw mechanical grippers
sx) two fingers;
centre) single moving finger;
dx) microgripper piezoelectrically
actuated.
20°
90° 90°
20°
b)
a)
c) d)
See Festo
See Monkman

Friction and Jaw grippers: standard?

Vacuum grippers

Vacuum: the key tech in SMDs assembly

Needle gripper

Bernoulli grippers

Capillary grippers
At microscale capillary grippers have been used owing to their flexibility
and reliability; have a compliant behaviour and a self-centring effect;
capability of grasping small and light components in a wide range of
materials and shapes; capability of handling delicate components as the
meniscus between the gripper and the object has a “bumper” effect.
To release parts grasped by
capillary grippers:
- Scratching agaist an
edge,
- Two different fluids,
- Changing the gripper
curvature,
- Electrowetting.

Capillary principle
α1 α2 Fc=FL+FT (1)
Gripper
T T
T T
mg
pa
pl
FL= 2  HπRa
2 (2)
FT= 2πRaγsin(θ+α) (3)
In the previous equations γ is
the surface tension (for water
~7210-3Nm-1) and
H=2(1/r0-1/r1).

Capillary grippers
• Reliable
• Self centering
• Compliant
• It can work without refilling for more than
1000 times (grasping-releasing cycles)
• It leaves traces and can stain lenses or
surface finished parts (mirrors, optics)
• Particular care in its use with SMDs and
other electronic components
• Often the process need for a following
phase of heating in order to remove (by
evaporation) the liquid

Capillary grippers: grasping and releasing

Capillary grippers: grasping and releasing
Grasping
Moving Releasing
Working principle of the
adhesion gripper able to
“grasp” and release microparts
by a curvature change.

Grasping and releasing microparts exploiting
liquids with different surface tensions
A novel grasping and releasing strategy for microparts exploiting liquids with different surface tensions
[Fantoni, Porta, Santochi]
Releasing Force
h [mm]
Vol [mm3]
Fc [mN]

Results
High reliability Centring effect
Many tests,
all succeeded
100% reliability
Also for very small ‘releasing’ volume

Capillary grippers
Multiple grasping
[Lambert,2005]
Extensions to macroscale?

«ice» gripper
More in general we can define them as «phase transition
grippers», they exploit the transition of a material from
liquid to ‘solid’.
Ultrasonic-assisted adhesive for
limp and air-permeable textiles
Ice gripper
for limp and air-permeable textiles
Ice gripper
for
microlenses

Electrostatic principle
Conductive
Dielectric
Conductive or dielectric
+ + + + + + + + + +
- - - - - - - - -
+ + + + + + + +
+- -+- +- -+- +-
V
- - - - - -
+ + + + + + + + + +
+- -+- +- -+- +-
- - - - - - - - - - - - - - -
V
(a)
+ + + +
- - - -
- - -
+ + +
+
+ + +
+
(d)
V
(c)
V
- - - - - - - - - - - - - - -
(b)

Electrostatic grippers
Electrostatic forces:
experimental evidences

[ Fantoni ]
HV
Electrostatic Microgrippers
V0
Glass substrate
Cross gripper
Conductive
working plane
Cross
gripper
Grasped component
+++++++++++++++ V
- - - - - - - - - - - - - - -
conductive
- + - + - +
[ Hesselbach ]
[ Enikov ]

Electrostatic Microgrippers with
centering capabilities

Force acting at the micro scale
Van der Waals
Capillary
Electrostatic
Forces
Adhesion
force
g

Van der Waals forces
Towards gecko tapes 

Adhesive grippers: grasping and releasing
a b c d

Ultrasound «gripper»
Sonodrote: the parts are
moved by the air pressure
generated by a sonodrote.
The parts levitate above the
plate.

Outline
• Trends
• Why not?
• Conclusions

Releasing strategies
Collection of strategies and approaches to release
parts mainly at micro level.
[Arai], [Fearing], [Fantoni], [Van Brussel]

Releasing part 1

Releasing part 2

Outline
• Trends
• Why not?
• Conclusions

The grasping process
1. Approaching the object: the gripper is positioned nearby the object.
2. Coming into contact with the object surface
3. Increasing the grasping force: the grasping force is increased, within certain limits.
4. Securing the object. The force stops increasing. The dof of the object are removed
5. Lifting the object;
6. Releasing the object. Issue at the microscale;
Monitoring the grasp: direct or indirect control of force, torque, stick slip, contact.

The monitoring methods
Sensing principles:
a) Mechanical switch;
b) electrical sensor;
c) photoelectric sensor;
d) vision based;
e) tactile sensor;
f) strain gauges;
g) force/torque sensor;
h) vision based;
i) capacitive or electrostatic;
j) led-photodiode (often IR);
k) vision based monitoring.

Flat‐pack inductive
proximity sensor
Piezoresitive
The monitoring methods
Strain gauges
[Tracht]
z-sensor
y-sensor
x-sensor
gripper
GEH6030
adapter
plate
gripper finger 1
gripper finger 2
Capacitive sensor
Indirect force measuring system
x
y
z
[Fantoni]

Outline
• Trends
• Why not?
• Conclusions

Trends
• More than one single principle per time
• Soft one piece gripper (silicon or AM)
• High coupling
• Active surfaces
• New «principles» and «strategies»
• Underactuated grippers
• Bimanual handling
• Lightweight grippers

Trends
• High coupling
• Active surfaces

Hybrid Grippers
A new generation of hybrid grippers seems emerging:
• More than two principles per gripper
• Increasing object-gripper coupling
Form + Force
+ Vacuum
Electroadhesive + Force Bernoulli + «Form»

Vacuum + Friction
2 vacuum cups
additional vacuum cup
telescopic slide-out
flap
parcel
parcel parcel

Electrostatic + Form

Jamming technology for grasping
Form + Friction + Vacuum (+ liquid/solid transition)
The Jamming Gripper is based on a
granular material contained in a
flexible membrane. The latex balloon
membrane is connected to the base
through a collar, producing an airtight
seal. The collar is the rigid part of the
gripper (when not actuated) and helps to
guide the gripper and to fit its shape to
the target. When the gripper and the
object are coupled, vacuum is provided
and a transition from deformable to
rigid state generates the grasping force
(grasping based on friction).

Working modes

Electrostatic Peltiér
Micro distributed vacuum cups Adhesive silicon gripper
 Programmable
 Switchable
 Adhesive
 +distributed
vacuum

Trends
• High coupling
• Active surfaces

Soft grippers
a) b) c) d)
e)

Additive manufactured gripper

Trends
• High coupling
• Active surfaces

Increasing gripper d.o.f.

Flexible and compliant friction gripper
The “hose gripper” is a flexible
gripper, formed of a double-walled
hose filled with water or air. This
hose is contained into a pipe and
actuated by a plunger that moves up
and down into the double-walled
hose. To make the gripper capable of
grasping and lifting objects, the
underside of the hose is located over
the object, thus partially covering the
object’s surface. When the plunger
raises, the hose and the object are
roped into the rigid pipe. The
releasing is performed moving back
the plunger.
The grasping is performed by
exploiting both form and force
closure (friction).

Compliant Vacuum Cups

Handling of flexible materials: leather plies
Since its flexibility, the compliant
vacuum cup is able to maintain the
grasping also in case of deformable
objects (leather plies, textiles, etc..).
During handling, the borders of the
objects fall down due to gravity.
Therefore the entire object deforms
and, if the vacuum cup does not
follow the object shape, the vacuum
decreases and the object is released.
The compliancy of the vacuum cup
(due to both design and material)
allows a reliable securing phase.

Adaptable + self-activating valves
vacuum vacuum
vacuum

Various approaches to adaptability
[Scott] [Pettersson]
[Reinhart]
[Jonas]

Trends
• High coupling
• Active surfaces

Active surfaces
a) b)
c) d)
a) Roll-on gripper
b) Velvet fingers
c) Traction gripper
d) Robin Read’s g.

Roll-on gripper

Traction gripper for logistic applications
The Traction Gripper consists of double
belt conveying units arranged
perpendicular to each other. Each unit
has traction belts that exert a friction
force allowing the grasping of several
shape goods. Each conveyor belts has a
separate drive chain. The inward
conveying motion of the traction belts
causes friction between the active
surfaces. The object is pulled into the
right angle and held there firmly.

Velvet Fingers
External
presentation

Trends
• High coupling
• Active surfaces

From Micro to Macro and viceversa
Van derWaals Capillary Needle
[Parness]
Cutkosky [Lanzetta]

Terrific forces
[Cutkosky], [Parness] Video

The Gecko Adhesive System
Lamellae—mm scale
Branches—μm scale
Setae—10s of μms
Spatulae—10s of nms
[Autumn], [Parness] Contact features use van der Waals forces

Synthetic Gecko Adhesive

Loading the Wedges
Load Direction
Unloaded
Moderately Loaded
Adhesion OFF
Adhesion ON
Heavily Loaded
HIGH Adhesion ON

Gecko Gripper (1)

NanoForceGripper by FESTO

Jamming for everything
Jamming for finger pads
(roof tiles)
Jamming for trunc
Jamming for joints
Jamming for palm

Outline
• Trends
• Why not?
• Conclusions

Why not?
– Tree frogs
– Cargofloor® and Switl®
– Tixotropic / dilatants /rehopetic grippers
–Magnetic fluids+adaptable surfaces

Toward a new adhesive gripper
W Federle, W.J.P Barnes,
W Baumgartner, P
Drechsler and J.M Smith,
Wet but not slippery:
boundary friction in tree
frog adhesivetoe pads J.
R. Soc. Interface 2006 3,
689-697
GRASP
component
Hydrophobic areas
Hydrophillic areas

Toward a new adhesive gripper: skin and pulp
Frog Fingeprint (SEM)
Supehydrophobic surface

Theoretical model
mg
h*
F1
xa1
mg
mg F2
h*
A
B
C

xa1
R Theoretical model
F3
xa2
F1
xa3
F4
mg
mg
mg
water
superhydrophobic
water
hydrophobic
water
hydrophilic
Hydrophobic ring
D
E
F

Concept design

Active surfaces for grasping and
releasing of microparts
Grasping and releasing of microparts by using active hydrophillic-phobic surfaces
[Fantoni, Hansen, Santochi ]
Programmable hydrophobic surfaces [Fantoni, Zang, Tosello, Hansen] in progress
Standard Treated

Other principles?
SWITL: an active shovel able to pick up even semi-liquid materials
Cargo floor: stick slip motion through selective surfaces activation
But can smart fluids be used?
Dilatants fluids:
what for in microassembly?
Tixotropic liquids: their viscosity changes
with the movement. e.g. S. Gennaro’s
blood, wine, maionnaise, ketchup,
quicksands, etc..

Outline
• Trends
• Why not?
• Conclusions

Conclusions
• Research activities
– RobLog (7° EU project)
– MicroGrippers expoliting structured surfaces
– Extension of the grasping principles from micro to macro
– Continue the research on compliant, actuated, hyerarchical
surfaces
• Search for partners for joint projects and exchange of
students

Aknowledgements
• Newtech 2013 Organizing commitee
(mainly my former student Antonio Maffei)
• RobLog project (7° FP)
• Fantoni, G., Santochi, M., Tracht, K., Dini, G., Scholz-Reiter,
B., Fleischer, J., Lien, T.K., Seliger, G., Reinhart, G., Franke,
J., Hansen, H.N., Verl, A., 2014, Grasping devices and
methods in automated production processes
Thank You for your attention!

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1 on the basis of the paper “Grasping devices and methods in
automated production processes” , CIRP Annals - Manufacturing
Technology, Volume 63, Issue 2, 2014,
7
Gripping technologies 1
G. Fantoni g.fantoni@ing.unipi.it
Department of Civil and Industrial Engineering
University of Pisa (Italy)
NEWTECH 2013

Grasping everything

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