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A biologically inspired gripping device

Elizabeth V. Mangan (Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, Ohio, USA)
Dan A. Kingsley (Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, Ohio, USA)
Roger D. Quinn (Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, Ohio, USA)
Greg P. Sutton (Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, Ohio, USA)
Joseph M. Mansour (Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, Ohio, USA)
Hillel J. Chiel (Department of Biology, Neurosciences and Biomedical Engineering, Case Western Reserve University, Cleveland, Ohio, USA)

Industrial Robot

ISSN: 0143-991x

Article publication date: 1 February 2005

1246

Abstract

Purpose

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The purpose of this paper is to inform the readers of the design process and practical implications of a new gripping device created by the authors.

Design/methodology/approach

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We have developed a novel gripping device based on the biomechanics of the feeding apparatus of the marine mollusk, Aplysia californica. The gripping device uses modified McKibben artificial muscles arranged in rings and placed in parallel. The rings contract sequentially to produce peristalsis, which moves a grasping mechanism back and forth through the rings.

Findings

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The central grasper is capable of conforming to soft and irregular material.

Practical implications

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This device could have novel applications both for removal of tissue in medical applications and for removing material from clogged plumbing lines.

Originality/value

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This paper demonstrates the utility of using biological inspiration for developing novel robotic devices and suggests new ways of handling slippery, irregular, and fragile material.

Keywords

Citation

Mangan, E.V., Kingsley, D.A., Quinn, R.D., Sutton, G.P., Mansour, J.M. and Chiel, H.J. (2005), "A biologically inspired gripping device", Industrial Robot, Vol. 32 No. 1, pp. 49-54. https://doi.org/10.1108/01439910510573291

Publisher

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Emerald Group Publishing Limited

Copyright © 2005, Emerald Group Publishing Limited

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