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Mehdi Modabberifar

Mehdi Modabberifar

Academic rank: Associate Professor
ORCID: https://orcid.org/0000-0003-0912-079X
Education: PhD.
ScopusId: 24491153000
Faculty: Engineering
Address: Arak University
Phone: 08632625724

Research

Title
Development of a gecko-like robotic gripper using Scott–Russell mechanisms
Type
JournalPaper
Keywords
Gecko-like adhesion; Scott–Russell mechanism; Robotic gripper
Year
2020
Journal ROBOTICA
DOI
Researchers Mehdi Modabberifar ، Matthew Spenko

Abstract

This paper describes the development of a gecko-inspired robotic gripper for grasping flat objects using Scott–Russell mechanisms. Compared to previously reported grippers that utilize gecko-like adhesives, the one presented here produces higher normal adhesion and has robustness and controllability advantages. To verify the applicability of proposed gripper, a mechanical model and experimental results on a variety of substrates are presented. The experimental results demonstrated a 19.6% and 50% increase in normal adhesion using a preload of <15 and <30N, respectively, compared to previously reported results under similar testing parameters and conditions.