{"project":{"acronym":"","projectId":90068,"title":"Industrial Electrostatic-Gecko Gripper","primaryTaxonomyNodes":[{"taxonomyNodeId":10618,"taxonomyRootId":8816,"parentNodeId":10616,"level":3,"code":"TX04.2.2","title":"Above-Surface Mobility","definition":"Above-surface mobility provides longer range and greater coverage of planetary surfaces at a more rapid pace, independent of the terrain topography and in substantial gravity and extreme heat or cold.","exampleTechnologies":"Ballistic systems, static-lift systems, dynamic-lift systems, power-lift systems","hasChildren":false,"hasInteriorContent":true}],"startTrl":4,"currentTrl":6,"endTrl":6,"benefits":"NASA?s interest in this technology stems from Subtopic: S4.02 Robotic Mobility, Manipulation and Sampling. This technology could benefit several NASA initiatives including in-space assembly, satellite service and salvage, space debris mitigation & elimination, gripping mechanisms for free-flyers (e.g. AstroBee) and spacecraft inspection. Of specific interest is the ISS Remote Inspection System (IRIS) being developed at the Jet Propulsion Laboratory (JPL, 2015). This system utilizes gecko-inspired adhesive feet to anchor IRIS to the micro-gravity environment of the ISS. The development of the ESG gripper would result in a significant performance increase in the adhesion of the feet in a low-cost, low-energy package. Another candidate JPL target for this technology is the In-Space Telescope Assembly project or other in-space assembly programs, as the gripper can function as an end-of-arm-tool (EOAT) for manipulation of large, flat objects such as positioning and holding of solar panels to a backbone truss. This technology is also particularly well-suited for satellite servicing and salvage, as the combined gecko and electrostatic gripping mechanisms are able to grip smooth rigid surfaces as well as thermal blankets.
Industrial manufacturing is rife with applications in which gripping an object is challenging or impossible with conventional grippers due to the shape or fragility of the object. Current solutions often rely on complex and expensive vision systems, vacuum or custom grippers, and/or repetitive, injury-prone manual labor. The ESG Gripper provides a simple and cost-effective solution to these situations. While there is a wide range of potential applications for adhesive gripping solutions in industrial automation, we have identified solar panels and glass manufacturing as the primary target markets due to the industries? versatility, expansiveness, and expressed interest in our solution. Other potential markets include aerospace and automobile manufacturing, packaging and warehousing, hazardous materials handling, palletizing applications, and medical device manufacturing. As an example, we will validate our work at the 2016 Amazon Picking Challenge to attract the interest of Amazon for pick-and-place tasks (see http://amazonpickingchallenge.org/).","description":"Perception Robotics is developing an innovative product, the Electrostatic Gecko Gripper? (ESG Gripper), for the industrial automation market. This unique gripping solution overcomes the shortcomings of vacuum grippers by eliminating the need for a compressed air system and offering more rapid actuation, thus achieving significant cost savings and throughput improvements in customers? manufacturing processes. The ESG gripper couples an electrostatic Perception Robotics is developing an innovative product, the ?Electrostatic Gecko Gripper(ESG Gripper), for the industrial automation market. This unique gripping solution overcomes the shortcomings of vacuum grippers by eliminating the need for a compressed air system and offering more rapid actuation, thus achieving significant cost savings and throughput improvements in customers manufacturing processes. The ESG gripper couples an electrostatic adhesive with an adhesive element inspired by gecko feet. When the electrostatic and gecko adhesives work together, a positive feedback cycle is created that, depending on surface type, can be greater than the sum of its parts. As the gecko adhesive engages, it brings the electrostatic adhesive closer to the surface, thus increasing its adhesive force; in turn, the electrostatic adhesive helps engage more of the fibrillar stalks of the gecko adhesive. Previous experimental results have shown that the combination adhesive technology can provide up to 5.1x greater adhesion that an electrostatic or gecko-like adhesive alone. This body of work will result in two hardware and software deliverables for transfer to NASA: 1.A piezoelectrically driven rig to automate and normalize the post-treatment process for improving the gecko adhesive (Q3CY1) 2.An improved industrial electrostatic gecko gripper with sensing and control software for an industrial robot. This factory-ready unit will position us well for production of a flight-ready version in Phase III. (Q4CY2)","startYear":2016,"startMonth":4,"endYear":2019,"endMonth":8,"statusDescription":"Completed","principalInvestigators":[{"contactId":506986,"canUserEdit":false,"firstName":"Nicholas","lastName":"Wettels","fullName":"Nicholas Wettels","fullNameInverted":"Wettels, Nicholas","primaryEmail":"nick.wettels@onrobot.com","publicEmail":true,"nacontact":false}],"programDirectors":[{"contactId":206378,"canUserEdit":false,"firstName":"Jason","lastName":"Kessler","fullName":"Jason L Kessler","fullNameInverted":"Kessler, Jason L","middleInitial":"L","primaryEmail":"jason.l.kessler@nasa.gov","publicEmail":true,"nacontact":false}],"programExecutives":[{"contactId":215154,"canUserEdit":false,"firstName":"Jennifer","lastName":"Gustetic","fullName":"Jennifer L Gustetic","fullNameInverted":"Gustetic, Jennifer L","middleInitial":"L","primaryEmail":"jennifer.l.gustetic@nasa.gov","publicEmail":true,"nacontact":false}],"programManagers":[{"contactId":62051,"canUserEdit":false,"firstName":"Carlos","lastName":"Torrez","fullName":"Carlos Torrez","fullNameInverted":"Torrez, Carlos","primaryEmail":"carlos.torrez@nasa.gov","publicEmail":true,"nacontact":false}],"projectManagers":[{"contactId":3163995,"canUserEdit":false,"firstName":"Robert","lastName":"Jones","fullName":"Robert Jones","fullNameInverted":"Jones, Robert","primaryEmail":"Robert.A.Jones@nasa.gov","publicEmail":true,"nacontact":false},{"contactId":461333,"canUserEdit":false,"firstName":"Theresa","lastName":"Stanley","fullName":"Theresa M Stanley","fullNameInverted":"Stanley, Theresa M","middleInitial":"M","primaryEmail":"theresa.m.stanley@nasa.gov","publicEmail":true,"nacontact":false}],"website":"","libraryItems":[{"file":{"fileExtension":"pdf","fileId":303179,"fileName":"briefchart","fileSize":363643,"objectId":299728,"objectType":{"lkuCodeId":889,"code":"LIBRARY_ITEMS","description":"Library Items","lkuCodeTypeId":182,"lkuCodeType":{"codeType":"OBJECT_TYPE","description":"Object Type"}},"objectTypeId":889,"fileSizeString":"355.1 KB"},"files":[{"fileExtension":"pdf","fileId":303179,"fileName":"briefchart","fileSize":363643,"objectId":299728,"objectType":{"lkuCodeId":889,"code":"LIBRARY_ITEMS","description":"Library Items","lkuCodeTypeId":182,"lkuCodeType":{"codeType":"OBJECT_TYPE","description":"Object Type"}},"objectTypeId":889,"fileSizeString":"355.1 KB"}],"id":299728,"title":"Briefing Chart","description":"Industrial Electrostatic-Gecko Gripper, Phase II Briefing Chart","libraryItemTypeId":1222,"projectId":90068,"primary":false,"publishedDateString":"","contentType":{"lkuCodeId":1222,"code":"DOCUMENT","description":"Document","lkuCodeTypeId":341,"lkuCodeType":{"codeType":"LIBRARY_ITEM_TYPE","description":"Library Item Type"}}},{"caption":"Industrial Electrostatic-Gecko Gripper, Phase II","file":{"fileExtension":"png","fileId":293150,"fileName":"SBIR_2015_2_BC_S4.02-9372","fileSize":346910,"objectId":289668,"objectType":{"lkuCodeId":889,"code":"LIBRARY_ITEMS","description":"Library Items","lkuCodeTypeId":182,"lkuCodeType":{"codeType":"OBJECT_TYPE","description":"Object Type"}},"objectTypeId":889,"fileSizeString":"338.8 KB"},"files":[{"fileExtension":"png","fileId":293150,"fileName":"SBIR_2015_2_BC_S4.02-9372","fileSize":346910,"objectId":289668,"objectType":{"lkuCodeId":889,"code":"LIBRARY_ITEMS","description":"Library Items","lkuCodeTypeId":182,"lkuCodeType":{"codeType":"OBJECT_TYPE","description":"Object Type"}},"objectTypeId":889,"fileSizeString":"338.8 KB"}],"id":289668,"title":"Briefing Chart Image","description":"Industrial Electrostatic-Gecko Gripper, Phase II","libraryItemTypeId":1095,"projectId":90068,"primary":true,"publishedDateString":"","contentType":{"lkuCodeId":1095,"code":"IMAGE","description":"Image","lkuCodeTypeId":341,"lkuCodeType":{"codeType":"LIBRARY_ITEM_TYPE","description":"Library Item Type"}}}],"transitions":[{"transitionId":67672,"projectId":90068,"partner":"Other","transitionDate":"2016-04-01","path":"Advanced From","relatedProjectId":33426,"relatedProject":{"acronym":"","projectId":33426,"title":"Industrial Electrostatic-Gecko Gripper","startTrl":3,"currentTrl":4,"endTrl":4,"benefits":"NASA's interest in this technology stems from Subtopic: S4.02 Robotic Mobility, Manipulation and Sampling, which states: \"Technologies for robotic mobility, manipulation, and sampling are needed to enable access to sites of interest and acquisition and handling of samples for in-situ analysis or return to Earth from planetary and solar system small bodies including Mars, Venus, comets, asteroids, and planetary moons…Manipulation technologies are needed to enable deployment of sampling tools and handling of samples.\" Of specific interest is the ISS Remote Inspection System (IRIS) being developed at the Jet Propulsion Laboratory (JPL, 2015). This system utilizes gecko-inspired adhesive feet to anchor to the micro-gravity environment of the ISS. The development of the ESG gripper would result in a significant performance increase in the adhesion of the \"feet\" in a low-cost, low-energy package. Furthermore, NASA has identified the SPHERES program as a technology platform to utilize electrostatic, gecko-based, or combination thereof for gripping surfaces in such free-flyers.
While there is a wide range of potential applications for adhesive gripping solutions in industrial automation, we have identified solar panels and glass manufacturing as the primary target markets due to the relatively versatile and expansive reach of these industries as well as the high level of interest expressed in our solution. Other potential markets include aerospace and automobile manufacturing, packaging and warehousing, hazardous materials handling, palletizing applications, and medical device manufacturing. We will also validate our work at the Amazon Picking Challenge in 2016 to attract the interest of Amazon for pick-and-place tasks: http://amazonpickingchallenge.org/ We have explored and evaluated alternative target markets through 60+ first-hand discussions with 12 different customers/partners in the industrial automation value chain, as well as used secondary market research reports. We have interviewed representatives of robotics companies (Kawasaki, Fanuc, Denso), systems integrators (Comau, Delta Tau), gripper suppliers (Schunk, Robotiq, Barrett, Magswitch), other component suppliers (Cognex), and end-user manufacturers (DelWest). Our first two customers are Kawasaki Robotics USA (robot manufacturer/ integrator) and Magswitch (gripper manufacturer looking to expand its business beyond ferrous material handling).","description":"Perception Robotics is developing an innovative product, the \"Electrostatic Gecko Gripper\" (ESG Gripper), for the industrial automation market. This unique gripping solution overcomes the shortcomings of vacuum grippers by eliminating the need for a compressed air system and offering more rapid actuation, thus achieving significant cost savings and throughput improvements in customers' manufacturing processes. The ESG gripper utilizes an adhesive element inspired by gecko feet coupled with an electrostatic adhesive. When the electrostatic and gecko adhesives work together, a positive feedback cycle is created that, depending on surface type, can be greater than the sum of its parts–as the gecko adhesive engages, it brings the electrostatic adhesive closer to the surface, thus increasing its adhesive force; in turn, the electrostatic adhesive helps engage more of the fibrillar stalks of the gecko adhesive. Previous experimental results have shown that the combination adhesive technology can provide up to 5.1x greater adhesion that the electrostatic or gecko-like adhesives alone (Ruffatto, Shah, & Spenko, 2014). The adhesive and grippers have been developed significantly over the last decade, since the first gecko-like adhesives were fabricated in 2003. Based on prior test results of the adhesives and grippers presented here, the ESG Gripper will offer the following benefits: � Ability to affix to a wide variety of industrial surfaces including glass, metals, composites, and painted surfaces; anything from a very smooth to matte finish � Extreme reusability (>30,000 ON-OFF cycles); can remain ON or OFF for > 1 year � High force capability >30 kPa of adhesion on most surfaces; typical normal (adhesion) to shear force ratio is 1:3 (Parness, et al., 2013) � Ultrafast engagement speed: <16ms (Wettels & Parness, 2014) � Adhesive effect is temperature, radiation, and vacuum invariant (Day, Cutkosky, Greco, & McLaughlin, 2011).","startYear":2015,"startMonth":6,"endYear":2015,"endMonth":12,"statusDescription":"Completed","website":"","program":{"acronym":"SBIR/STTR","active":true,"description":"
The NASA SBIR and STTR programs fund the research, development, and demonstration of innovative technologies that fulfill NASA needs as described in the annual Solicitations and have significant potential for successful commercialization. If you are a small business concern (SBC) with 500 or fewer employees or a non-profit RI such as a university or a research laboratory with ties to an SBC, then NASA encourages you to learn more about the SBIR and STTR programs as a potential source of seed funding for the development of your innovations.
The SBIR and STTR programs have 3 phases:
The SBIR and STTR Phase I contracts last for 6 months with a maximum funding of $125,000, and Phase II contracts last for 24 months with a maximum funding of $750,000 - $1.5 million.
Opportunity for Continued Technology Development Post-Phase II:
The NASA SBIR/STTR Program currently has in place two initiatives for supporting its small business partners past the basic Phase I and Phase II elements of the program that emphasize opportunities for commercialization. Specifically, the NASA SBIR/STTR Program has the Phase II Enhancement (Phase II-E) and Phase II eXpanded (Phase II-X) contract options.
Please review the links below to obtain more information on the SBIR/STTR programs.
Provides an overview of the SBIR and STTR programs as implemented by NASA
Provides access to the annual SBIR/STTR Solicitations containing detailed information on the program eligibility requirements, proposal instructions and research topics and subtopics
Schedule and links for the SBIR/STTR solicitations and selection announcements
Federal and non-Federal sources of assistance for small business
Search our complete archive of awarded project abstracts to learn about what NASA has funded
Still have questions? Visit the program FAQs
","programId":73,"responsibleMd":{"acronym":"STMD","canUserEdit":false,"city":"","external":false,"linkCount":0,"organizationId":4875,"organizationName":"Space Technology Mission Directorate","organizationType":"NASA_Mission_Directorate","naorganization":false,"organizationTypePretty":"NASA Mission Directorate"},"responsibleMdId":4875,"stockImageFileId":36648,"title":"Small Business Innovation Research/Small Business Tech Transfer"},"lastUpdated":"2024-1-10","releaseStatusString":"Released","viewCount":389,"endDateString":"Dec 2015","startDateString":"Jun 2015"},"infoText":"Advanced from another project within the program","infoTextExtra":"Another project within the program (Industrial Electrostatic-Gecko Gripper)","dateText":"April 2016"},{"transitionId":67673,"projectId":90068,"transitionDate":"2019-08-01","path":"Closed Out","closeoutDocuments":[{"title":"Final Summary Chart","file":{"fileExtension":"pdf","fileId":307098,"fileName":"finalSummaryChart","fileSize":106912,"objectId":67673,"objectType":{"lkuCodeId":1841,"code":"TRANSITION_FILES","description":"Transition Files","lkuCodeTypeId":182,"lkuCodeType":{"codeType":"OBJECT_TYPE","description":"Object Type"}},"fileSizeString":"104.4 KB"},"transitionId":67673,"fileId":307098}],"infoText":"Closed out","infoTextExtra":"","dateText":"August 2019"}],"primaryImage":{"file":{"fileExtension":"png","fileId":293150,"fileSizeString":"0 Byte"},"id":289668,"description":"Industrial Electrostatic-Gecko Gripper, Phase II","projectId":90068,"publishedDateString":""},"responsibleMd":{"acronym":"STMD","canUserEdit":false,"city":"","external":false,"linkCount":0,"organizationId":4875,"organizationName":"Space Technology Mission Directorate","organizationType":"NASA_Mission_Directorate","naorganization":false,"organizationTypePretty":"NASA Mission Directorate"},"program":{"acronym":"SBIR/STTR","active":true,"description":"The NASA SBIR and STTR programs fund the research, development, and demonstration of innovative technologies that fulfill NASA needs as described in the annual Solicitations and have significant potential for successful commercialization. If you are a small business concern (SBC) with 500 or fewer employees or a non-profit RI such as a university or a research laboratory with ties to an SBC, then NASA encourages you to learn more about the SBIR and STTR programs as a potential source of seed funding for the development of your innovations.
The SBIR and STTR programs have 3 phases:
The SBIR and STTR Phase I contracts last for 6 months with a maximum funding of $125,000, and Phase II contracts last for 24 months with a maximum funding of $750,000 - $1.5 million.
Opportunity for Continued Technology Development Post-Phase II:
The NASA SBIR/STTR Program currently has in place two initiatives for supporting its small business partners past the basic Phase I and Phase II elements of the program that emphasize opportunities for commercialization. Specifically, the NASA SBIR/STTR Program has the Phase II Enhancement (Phase II-E) and Phase II eXpanded (Phase II-X) contract options.
Please review the links below to obtain more information on the SBIR/STTR programs.
Provides an overview of the SBIR and STTR programs as implemented by NASA
Provides access to the annual SBIR/STTR Solicitations containing detailed information on the program eligibility requirements, proposal instructions and research topics and subtopics
Schedule and links for the SBIR/STTR solicitations and selection announcements
Federal and non-Federal sources of assistance for small business
Search our complete archive of awarded project abstracts to learn about what NASA has funded
Still have questions? Visit the program FAQs
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