{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/105940"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/105940","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Shape memory polymer adhesive gripper for pick-and-place applications","abstract":"Over the past few years, shape memory polymers (SMPs) have been extensively studied in term of their remarkable reversible dry adhesive properties and related smart adhesive applications. However, these exceptional properties of SMPs have not been exploited for pick-and-place applications, which would otherwise advance the robotic manipulation. This work explores the use of SMPs to design an adhesive gripper which pick and place target solid objects relying on reversible dry adhesion of SMP. Compared with common finger or soft grippers, the SMP adhesive gripper interacts with a single surface of a target object for pick-and-place. Furthermore, it is easy and inexpensive to manufacture and applicable to various surfaces since it involves reversible dry adhesion. In this paper, associated physical mechanisms and temperature analyses are studied and conducted. Also, the study includes manufacturing of a dual SMP and a release tip which substantially enhances the adhesion strength and considerably minimizes the releasing force. Finally, the versatility and utility of the SMP adhesive gripper are demonstrated through pick-and-place experiments.","abstract_html":"Over the past few years, shape memory polymers (SMPs) have been extensively studied in term of their remarkable reversible dry adhesive properties and related smart adhesive applications. However, these exceptional properties of SMPs have not been exploited for pick-and-place applications, which would otherwise advance the robotic manipulation. This work explores the use of SMPs to design an adhesive gripper which pick and place target solid objects relying on reversible dry adhesion of SMP. Compared with common finger or soft grippers, the SMP adhesive gripper interacts with a single surface of a target object for pick-and-place. Furthermore, it is easy and inexpensive to manufacture and applicable to various surfaces since it involves reversible dry adhesion. In this paper, associated physical mechanisms and temperature analyses are studied and conducted. Also, the study includes manufacturing of a dual SMP and a release tip which substantially enhances the adhesion strength and considerably minimizes the releasing force. Finally, the versatility and utility of the SMP adhesive gripper are demonstrated through pick-and-place experiments.","abstract_has_math":false,"creators":["Son, ChangHee"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Kim, Seok"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2019,"date_issued":"2019-11-26T20:59:46Z","date_published":"2019-11-26T20:59:46Z","updated_at":"2026-07-22T22:24:45Z","subjects":["Shape Memory Polymer","Adhesives","Gripper"],"languages":["en"],"rights":["Copyright 2019 ChangHee Son"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/105940","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Kim, Seok"]},{"key":"dc:creator","label":"Author","values":["Son, ChangHee"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2019-11-26T20:59:46Z","2021-11-27T10:15:16Z","2019-07-17","2019-08"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Shape Memory Polymer","Adhesives","Gripper"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2019 ChangHee Son"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/105940"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Over the past few years, shape memory polymers (SMPs) have been extensively studied in term of their remarkable reversible dry adhesive properties and related smart adhesive applications. 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Finally, the versatility and utility of the SMP adhesive gripper are demonstrated through pick-and-place experiments.","Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2021-08-01","The student, ChangHee Son, accepted the attached license on 2019-07-12 at 16:53.","The student, ChangHee Son, submitted this Thesis for approval on 2019-07-12 at 16:58.","This Thesis was approved for publication on 2019-07-17 at 09:31.","DSpace SAF Submission Ingestion Package generated from Vireo submission #14272 on 2019-11-26 at 14:03:59","Made available in DSpace on 2019-11-26T20:59:46Z (GMT). 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However, these exceptional properties of SMPs have not been exploited for pick-and-place applications, which would otherwise advance the robotic manipulation. This work explores the use of SMPs to design an adhesive gripper which pick and place target solid objects relying on reversible dry adhesion of SMP. Compared with common finger or soft grippers, the SMP adhesive gripper interacts with a single surface of a target object for pick-and-place. Furthermore, it is easy and inexpensive to manufacture and applicable to various surfaces since it involves reversible dry adhesion. In this paper, associated physical mechanisms and temperature analyses are studied and conducted. Also, the study includes manufacturing of a dual SMP and a release tip which substantially enhances the adhesion strength and considerably minimizes the releasing force. Finally, the versatility and utility of the SMP adhesive gripper are demonstrated through pick-and-place experiments.","Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2021-08-01","The student, ChangHee Son, accepted the attached license on 2019-07-12 at 16:53.","The student, ChangHee Son, submitted this Thesis for approval on 2019-07-12 at 16:58.","This Thesis was approved for publication on 2019-07-17 at 09:31.","DSpace SAF Submission Ingestion Package generated from Vireo submission #14272 on 2019-11-26 at 14:03:59","Made available in DSpace on 2019-11-26T20:59:46Z (GMT). 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