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This paper describes the development of an innovative universal parallel gripper using a reformed magnetorheological (MR) fluid. The gripper has two fingertips, constructed using an elastic membrane enclosing the reformed MR fluid, which is stiffer than typical MR fluid. We developed a mechanism that moves a permanent magnet in order to control the...
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... of the MR fluid is shown in Fig. 1. As a result, the shear stress and viscosity of the MR fluid increases. When the magnetic field is removed, the chain structures are broken and the MR fluid behaves as a simple fluid. Moreover, the reformed MR fluid includes nonmagnetic particles. The solidification mechanism of the reformed MR fluid is shown in Fig. 2. As shown the figure, when the magnetic field is applied to the reformed MR fluid, the iron particles form chain structures along the line of magnetic flux, and the nonmagnetic particles fill the gaps in each chain and support the structure. Because of this mechanism, the reformed MR fluid solidifies more firmly than ordinary MR ...
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Citations
... Recently, various universal grippers have been proposed to grip objects of various shapes and materials. Numerous researches exist on universal grippers, such as those constructed using an elastic membrane, jamming effect [1,2], or magnetorheological (MR) fluid [3,4]. In particular, the universal gripper using magnetic force has less operational constraints posed by the environment, as compared to grippers using air pressure. ...
... Moreover, it can grip objects stably. However, detailed design and construction mechanism are required to downsize the MRα fluid gripper because of the use of MR fluid and the electromagnet [4]. ...
... This gripper grips objects by raising a wire connected to the lower part of an elastic membrane using a motor. We proposed a gripper with an elastic membrane enclosing the MR fluid [3,4]. The water gripper proposed in this study is similar to our MR fluid gripper in that it uses magnetic force. ...
In this study, we propose a novel gripper with a simple structure for industrial robots. The gripper consists of a permanent magnet, an electromagnet, an elastic membrane, and water. It can grip and transport objects of various shapes without consuming electric power/vacuum power, and it requires electric power only when it releases a gripping object. This gripper has several advantages: easy downsizing without detailed designing, easy waterproof designing, low cost, light weight, and robustness against misalignment of objects. In this paper, we illustrate its structure, working principle, and experimental results.
