Adaptive Vacuum Suction Cups with Fluid-Filled Skirts for Robotic Adhesion to Uneven Surfaces

Suction cups are widely recognized as a cost-effective and efficient adhesion solution across various practical applications. While traditional suction cups perform well on smooth surfaces such as glass and tiles, they face significant challenges on rough, uneven, or porous surfaces commonly encountered daily. Additionally, soft and deformable surfaces often render conventional suction cups ineffective. This study addresses these limitations by enhancing suction cup performance by incorporating flexible skirts. A suction cup with a diameter of approximately 90 mm was constructed using 3D-printed components and 18 -inch latex balloon materials with an approximate thickness of 1 mm. The adhesion performance of the designed suction cups was systematically evaluated on uneven surfaces with different skirtfilling materials. The findings provide insights into improving suction cup adaptability and effectiveness for uneven surface conditions.