Robotic grippers, inspired by human hands, show an extraordinary ability to manipulate objects of various shapes, sizes, or materials. However, capturing objects with varying kinetic energy remains challenging, regardless of the classical rigid-bodied or frontier soft-bodied grippers. Here, we demonstrate a rapid energy harvesting and dissipation mechanism for the soft grippers leveraging the finger-palm synergy. Theoretically and experimentally, this mechanism enables a soft gripper to reliably capture high-speed targets by dissipating and harvesting almost all the target’s kinetic energy within 30 milliseconds. The energy harvesting and dissipating capability are adjustable and can be enhanced by inflating pressure. Additionally, the harvested energy is autonomously transferred into fingers to enhance their grasping force and reduce the response time. To highlight, the grippers we developed are integrated into a six-rotor drone and successfully capture flying objects in an outdoor experiment. These results significantly advance robotics development in achieving dynamic capture of dynamic targets.

The conformability is yet a challenge for most soft robotic grippers due to the continuous motion and deformation of these machines under external force. Herein, inspired by the movement mechanism of human fingers, we propose a novel tendon-driven soft robotic finger with a preprogrammed bending configuration and a human finger like sequential motion that can be obtained by matching the stiffness gradient of the finger joints with three-dimensional (3D) printing technology. The contents of this article are organized as follows. First, the effect of the anisotropy caused by 3D printing filling direction on the mechanical property is investigated by tensile test. Then, kinematic, stiffness, and fingertip trajectory models are established to analyze the influence of the cross-section thickness and width on the bending and bearing capacity of the finger joint. Furthermore, several experiments are conducted on a self-built experimental platform to evaluate the advantages of sequential motion induced by stiffness gradients. Results reveal that soft robotic fingers with sequential motion show excellent conformability on the object surfaces with various curvatures and outperform nonsequential motion fingers with larger envelop range. Without changing motion trajectories of the fingertip, the deformability of the finger can be tuned by adjusting only the stiffness of the joint. Besides, a two-finger gripper is developed, which presents the capability of grasping objects with different shapes and weights in practical applications. The sequential motion mechanism proposed in this study shows promising potential in soft grippers and robotic design.

Existing studies primarily focus on stiffness and damping under full-film lubrication or dry contact conditions. However, most lubricated transmission components operate in the mixed lubrication region, indicating that both the asperity contact and film lubrication exist on the rubbing surfaces. Herein, a novel method is proposed to evaluate the time-varying contact stiffness and damping of spiral bevel gears under transient mixed lubrication conditions. This method is sufficiently robust for addressing any mixed lubrication state regardless of the severity of the asperity contact. Based on this method, the transient mixed contact stiffness and damping of spiral bevel gears are investigated systematically. The results show a significant difference between the transient mixed contact stiffness and damping and the results from Hertz (dry) contact. In addition, the roughness significantly changes the contact stiffness and damping, indicating the importance of film lubrication and asperity contact. The transient mixed contact stiffness and damping change significantly along the meshing path from an engaging-in to an engaging-out point, and both of them are affected by the applied torque and rotational speed. In addition, the middle contact path is recommended because of its comprehensive high stiffness and damping, which maintained the stability of spiral bevel gear transmission.

Although several empirical wear formulas have been proposed, theoretical approaches for predicting surface topography evolution during sliding wear are limited. In this study, we propose a novel wear-prediction method, wherein the energy-based Arrhenius equation is combined with a mixed elastohydrodynamic lubrication (EHL) model to predict the point-contact wear process in mixed lubrication. The surface flash temperature and contact pressure are considered in the wear model. Simulation results are compared with the experimental results to verify the theory. The surface topography evolutions are observed during the wear process. The influences of load and speed on wear are investigated. The simulation results based on the Arrhenius equation relationship shows good agreement with the results of experiments as well as the Archard wear formula. However, the Arrhenius equation is more accurate than the Archard wear theory in some aspects, such as under high-temperature conditions. The results indicate that combining the wear formulas with the mixed EHL simulation models is an effective method to study the wear behavior over time.

Arbitrary velocity vectors on two meshing surfaces in spiral bevel gears could generate large sliding velocity, which may cause tremendous temperature rise especially when surface roughness is involved. However, available studies are primarily concentrated on full-film lubrication without considering temperature rise and surface topography. The purpose of present study is to develop a mixed thermal elastohydrodynamic lubrication (TEHL) model taking into account the velocity vector and surface roughness. The obtained results are compared with those from elastohydrodynamic lubrication (EHL) model and measurement in previous literatures to demonstrate the accuracy of the present model. Further, the TEHL model has been applied to predict the film thickness, pressure and temperature rise of the spiral bevel gears over one meshing period by considering the thermal effect.