Innovative Adhesion in Robotics: A Novel Suction Cup Design with Artificial Muscles and Compliance
Date
2025-04-04
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
ORCID
Type
Thesis
Degree Level
Masters
Abstract
Climbing vertical surfaces is critical in robotics for tasks like maintenance and inspection,
particularly in cleaning delicate glass surfaces such as solar panels. Traditional rigid robots risk
damaging such surfaces, leading to the development of soft climbing robots. These robots often
utilize suction cups powered by electrostatic, magnetic, or pneumatic systems, though they face
challenges like high voltage requirements and air tube tangling.
This study presents a novel suction cup design that integrates artificial muscles made of
fishing lines and conductive threads, enabling effective adhesion through contraction-generated
negative pressure. The study is structured into two main sections: the first explores the properties
and performance of artificial muscles, while the second focuses on the design and analyzing effects
of parameters of suction cups.
Based on experimental results from the first section, longer muscles show greater contraction
than shorter muscles because the contraction range depends on the spacing between the coils, with
longer muscles containing more coils.
The cups with a 2 mm membrane demonstrate the highest load carrying capacity, followed
by those with 4 mm and 6 mm membranes. Additionally, among suction cups with the same
membrane thickness, those with thicker wall exhibit superior load capacity. Thus, maximum load
capacity is achieved by combining the thinnest membrane and the thickest wall.
Our investigation reveals that the suction force is primarily determined by the air pressure
difference between the interior the cup and the surrounding environment. Thinner membranes
create a larger internal volume change during actuation, resulting in a greater pressure difference
and stronger suction force. In contrast, thicker membranes limit the volume change, resulting in a
lower pressure difference and reduced load capacity.
Description
Keywords
Artificial Muscle, Suction Cup Design, Soft Material, Wall Climbing Robot, Fishing Line artificial Muscle.
Citation
Degree
Master of Science (M.Sc.)
Department
Biomedical Engineering
Program
Biomedical Engineering