Surface and Shape Deposition Manufacturing for the Fabrication of a Curved Surface Gripper

Structures in nature frequently combine hard and soft materials and exhibit functional and geometric features ranging from microscopic to macroscopic. To assist in developing new bio-inspired structures and mechanisms, we present a multi-material fabrication process for creating flexible structures with feature lengths ranging from centimeters to micrometers in a single structure. The process is demonstrated for a flexible gripper that grasps curved surfaces using gecko-inspired adhesives.