Bio Inspired Design - Lecture10. Biomotion bioclamping_part1

Wb2436-05, Paul Breedveld, Bioclamping

Bio-Inspired DesignWb2436-05

Paul Breedveld

Lecture 10

Bioclamping

TechnicalCounterpart

Large numberof examples

BiologicalClamping Method

Adhesion

Suction

Grasping

Overview

Electro-Magnetism

Freezing & Melting

No biologicalcounterparts

Grasping AdhesionSuction

(2 dimensional case → 2 contact points)

Case 1: Two rigid surfaces• Grip stays equal when surface area changes• Grip can be increased by increasing • normal force & friction coefficient

Increasing grip byincreasing friction coefficient …

FNFfric

Case 2: One or two deformable surface(s)• Friction much larger because of• increased contact surface• Normal forces in different directions can• help to increase grip• Friction not necessary for achieving grip!Wb2436-05, Paul Breedveld, Bioclamping

Increasing grip byvarying the direction of the normal forces …

FN, res

Increasing grip byvarying the direction of the normal forces …

Atraumatic?

Surgical Forceps

Ripples increase frictionWhy are they circular?

Grip increases perpendicular to rippleGrip increases in all directions!

Puffin(Papegaaiduiker)

Friction notnecessary to achieve grip!(normal forces~parallel to pulling forces)

IntestineInspection DevicePaolo Dario, PisaSpikes

Case 3: Shaping around an object• Normal forces in direction you want• Strong increase of grip• Role of friction less and less

Increasing grip byshaping around an object …

Curved Forceps & Hooks

A hole can also serve as Shape Grip…

BiologicalHelicalTensionSpring!

Shape GripperHirose & Fukushima lab.

Tokyo Institute of Technology

SARAH robothandRobotics Laboratory, Laval University, Canada

Summary: How to increase grip when grasping?

Passive: • By increasing the friction coefficient (rubber, etc.)• By varying the direction of normal forces • (teeth, ripples, spikes, etc.)• Only in case of deformable contact surface(s)!

Active:• By shaping around an object

Summary: How to increase grip when grasping?

Passive: • By increasing the friction coefficient (rubber, etc.)• By varying the direction of normal forces • (teeth, ripples, spikes, etc.)• Only in case of flexible contact surface(s)!

Active:• By shaping around an object

Friction can in these case be zero while still having sufficient grip

Sucking Cup

Why many small suckersinstead of a few big ones?

High stresses in tissueRisk of tissue damage

& losing grip

Low stresses in tissue

Leakage stops suction

Suction continueswith multiple suckers

Octopus heart stabilizer for bypass surgery

Wall-climbing robotShigeo Hirose, Tokyo

no air flowvalve open

air flowvalve closed

Dry adhesion(Gecko)

Gecko Setae

Spider SetaeWb2436-05, Paul Breedveld, Bioclamping

Spider Setae

0.5μm

2 rigid objects: Only few contact points

Friction independent of contact area

1 (or 2) very flexible objects: Large number of contact points

Friction strongly depending on contact area

Setae behave like flexible leaf springsPads are pushed against the surface

Molecular contact van der Waals forces

1 (or 2) very flexible objects: Large number of contact points

Friction strongly depending on contact area

Setae behave like flexible leaf springsPads are pushed against the surface

Molecular contact van der Waals forces

Thick supporting “leaf springs” for larger adaptability at more strength

Multiple leaf spring construction in wiper blade(ruitenwisser)

2μm Artificial SetaeDry tape?

StickyBotStanford University

Biomimetics & Dexterous Manipulation Laboratory

Gecko-likeGlass climbing robot

• No setae, no v/d Waals• Toes covered with• flexible, flat, sticky surface

SpinyBotStanford University

Biomimetics & Dexterous Manipulation Laboratory

Gecko-likeConcrete climbing robot

• No setae, no v/d Waals• Toes covered with many• leaf-springs ending in• sharp curved hooks

How to lift a foot that sticks?

Unrolling!Lifting the 2-D surface impossibleLifting the 1-D borderline easy

Bio Inspired Design - Lecture10. Biomotion bioclamping_part1

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