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ICRA 2026
Curvature Adaptable Robotic End-Effectors
Jhonatan Rincon, Juan Osorio, Wonhee Kim, Paul Alexander, Dooil Hwang, Andres Arrieta
AI summary
A mechanically underactuated suction gripper uses bistable dome arrays to passively lock onto varying curved surfaces, eliminating the need for continuous power or complex shape control.
Problem
Handling curved automotive parts currently requires labor-intensive, part-specific fixtures and complex sensor-actuator networks that compromise reliability and energy efficiency.
Approach
The authors design a metasheet of bistable domes with programmable inversion thresholds that snap to discrete curvature states via pneumatic actuation, paired with a spring-lattice model and a simple discrete control loop to verify vacuum seals.
Key results
- Programmable bistable dome array achieves discrete curvature states through geometric variation alone
- Spring-lattice model accurately predicts seal feasibility by computing deformation energy
- Discrete manipulation loop reliably finds compatible curvature states using minimal vacuum feedback
- Experimental validation demonstrates robust adaptation to curved automotive panels
Why it matters
Lowers fixture costs and control complexity for flexible manufacturing by enabling reliable gripping of variable curved surfaces with minimal sensing and power.
Abstract
No abstract on file.