Releasing kinematics for energy efficient grippers based on dry-adhesive microstructures

Grippers based on mushroom shaped adhesive microstructures provide the potential to grasp a wide variety of objects with minimal energy usage. Once a sufficient contact is established, the adhesion is maintained without any further energy input. This is advantageous in terms of energy efficiency but can impede the process of releasing gripped objects if the adhesive force surpasses the weight force. Starting from mechanical releasing principles, two concept designs for dry-adhesive based grippers were developed. Experimental tests with simplified setups could prove the significant reduction in detachment force that is achieved by levering or rolling off the dry-adhesive tape.