DATASHEETGECKO GRIPPER

v1.1

DATASHEET

1. Datasheet
1.1. Gecko Gripper
General Properties

Gecko Gripper
SP1

Gecko Gripper
SP3

Gecko Gripper
SP5Unit

1
2.2

3
6.6

5
11[kg][lb]

Minimum

38

12[N]Medium

720

29

[N]

Maximum

1132

46

[N]

Detachment time

100-1000 (dependent on robot speed)[ms]

Holds workpiece on power
loss?

Yes, for days if well centered

IP Classification

IP42Dimensions (HxW)

69 x 71
2.7 x 2.8

Weight0.267
0.587

Maximum Payload

Preload[mm][inch]
0.297
0.653

Pads general properties
Proprietary silicone blend

Wear properties

Depends on surface roughness

Change-out interval~200.000

Cleaning systems

1) OnRobot cleaning station
2) Silicone roller
3) Isopropyl Alcohol and lint-free cloth

Cleaning intervalvariable

Recovery100%
Minimum[cycles]

OptimalMaximum Unit

Operating temperature 032-50122

[°C]
[°F]

Storage temperature-150302[°C][°F]-30-22

[kg]
[lb]

Unit

MaterialConditions

Surface Characteristics Matte finish Highly polished N/ANote: Smoother surfaces
require less preload force
for a desired payload force.

Spring lifetime*[cycles]

1000000+ --* Replacement information in the Maintenance section.

20.3180.7

DATASHEETHow to Pick a Part Using the Gecko Gripper
GripPosition

Contact & Preload

Lift

How to Release a Part
Method 1 – Robot Peeling Movement:
ReleasePlace

Tilt to Release

Method 2 – Fixturing:
It is also possible for users to craft their own custom fixture to assist in peeling off an object if
the above method is not desirable. For example, the Gecko Gripper could grip a panel andthen visit a forked tool to slide between, move up and release the object. The fixture design iscompletely at the user’s discretion.
Usage Notes
Because of the Gecko Gripper's unique mechanism of action, it is important to understand thefollowing key operating principles to use the gripper correctly and to achieve optimal gripper
performance. This is VERY important.
•Surface Roughness Affects Gripping
The Gecko Gripper works best with highly polished surfaces that allow for maximal contact
between the adhesive pads and the substrate surface. As the surface becomes lesssmooth, more preload force is required to grip substrates. Matte surfaces should beconsidered the maximal surface roughness limit which the gripper is able to grip.

•Environmental Conditions Affect Gripping
The adhesive pads use van der Waals forces to attach to a substrate. If there is dust or
debris on the substrate surface, the pads will interact with these particles instead. Dusty,

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DATASHEET

greasy, oily, or wet substrates will not adhere to the Gecko Gripper. The Gripper works
best with clean, smooth, and dry surfaces.
•Preload Force Determines Maximum Payload Force
The adhesion force is also dependent on the amount of preload force applied to thesurface. This preload force also depends on the surface smoothness or roughness.
Payload force is also saturable at some preload force specific to the material andoperating conditions; here maximal preload is applied.

•Reconcile Gripper Function with Robot Collision Detection or Other Safety Systems
When using the Gecko Gripper with a robot in position control, care must be taken during
the gripping phase of the object as to not trip off the robot’s collision detection system.
The most force of the gripper is dependent on pad size. Approximate maximum force
values for the SP gripper series are as follows: SP1 = 15N; SP2 = 40N; SP3 = 60N. Basedupon your robot type and object, it may be necessary to adjust the robot’s collaborative or
collision settings to preclude tripping off the robot upon contact.

•Pick Location and Object Moments Can Overcome Gripping Force
Gripper adhesion specifications assume that the center of gravity of the object is centeredon the gripper pad. If the center of gravity of the object is not centered on the pad or
moments are applied to the object, robot-object movement can decrease the adhesion
force of the gripper causing it to drop the objects.

•Pads will Wear Out
Over time, the pads will wear and require replacement. There is no deterministic way todetermine how worn the pads are, so the user must be mindful of the pad change-out
interval. This will depend on the environment in which the pads are used.

Effectiveness on Different Materials
There are several factors that affect the Gecko Gripper’s ability to handle items: the micro
scale roughness of the surface (average roughness), the macro scale peaks and valleys on
the surface (spatial frequency of peaks – also waviness), also the orientation of these features(lay – or the way it was finished, e.g. lapped, ground, Blanchard, etc.) and stiffness of thematerial. If the material is too soft, the Gecko Gripper will not be able to force itself against thematerial to grip. To make this easier to interpret, we have included the below table that shows
texture roughness and stiffness on the left (scales of 1, 5 and 10 – the highest) versus thepayload of the Gecko Gripper. Green indicates that it is possible to pick this object, yellow isquestionable and red does not result in a pick. The scale is relative and semi-arbitrary, meantto act as a general guide. More scientific information can be found in the Gecko Gripper userguide.
Stiffness Roughness Example of material / substrate

Gecko Gripper SP1
Payload [kg]0.02 0.05 0.1

411

Loose Mylar

51

Transparency sheet

101

Polished mirror-like steel, metal,
solar panel

0.25 0.51

DATASHEET

Stiffness Roughness Example of material / substrate15

Cling film, ziploc bags

55

Glossy carboard (cereal box)

105Printed circuit board

110

Laminating plastic / film

510Corrugated cardboard

1010Sandblasted aluminum

Stiffness Roughness Example of material / substrate

Gecko Gripper SP1

Gecko Gripper SP3
Payload [kg]
0.1

1

1

Loose Mylar

5

1

Transparency sheet

101

Polished mirror-like steel, metal,
solar panel

15Cling film, ziploc bags

55

Glossy carboard (cereal box)

105

Printed circuit board

110Laminating plastic / film

510

Corrugated cardboard

1010

Sandblasted aluminumStiffness Roughness Example of material / substrate

0.2

0.3

0.75 1.5

3Gecko Gripper SP5
Payload [kg]0.1

11Loose Mylar

51

Transparency sheet

101

Polished mirror-like steel, metal,
solar panel

15Cling film, ziploc bags

55

Glossy carboard (cereal box)

105

Printed circuit board

110

Laminating plastic / film

510

Corrugated cardboard

1010

Sandblasted aluminum

0.25 0.5

1.0

2.5

55

DATASHEETNOTE:
These tables are to be utilized as a guide to better understand the payload
capacity and substrate type for the Gecko Gripper's.
The criteria for stiffness and roughness is a basic scale from 1-10, here are the benchmarks
used to determine the values.

6Stiffness

Description

Example1Flexible

Fabric5

Semi-flexible

Cardboard

10

StiffMetal

Roughness

Description

ExampleRMS Value

1

Polished/Smooth

Polished Metal

0.1 micron

5

TexturedCarboard

7 microns

10

RoughSandblasted Metal

28 microns

DATASHEET

1.2. Gecko Gripper box content

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1.3. Gecko Gripper

All dimensions are in mm and [inches].

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