Preliminary Development of a Powerful and Backdrivable Robot Gripper Using Magnetorheological Fluid

Shembekar, Sahil; Kamezaki, Mitsuhiro; Zhang, Peizhi; He, Zhouyi; Tsunoda, Ryuichiro; Sakamoto, Hiroyuki; Sugano, Shigeki

doi:10.22260/isarc2020/0202

Cited by 4 publications

(3 citation statements)

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“…These grippers often utilize combinations of positive and negative pressure to achieve fast gripping and release, a method of actuation that utilizes differential internal and external pressures that is not suitable for the vacuum environment of space. Therefore, researchers have proposed magnetorheological-based grippers [35,36]. However, these studies generally focus only on the numerical magnitude of gripping forces, neglecting factors such as the established connection stiffness after completing the grasp.…”

Section: Introductionmentioning

confidence: 99%

Bioinspired flexible gripper for vacuum non-cooperative target capture

Xia,

Sai,

et al. 2024

Smart Mater. Struct.

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With the development of space exploration activities, the proliferation of non-cooperative targets in space, such as defunct satellites and space debris, has made the development of efficient and reliable non-cooperative target capture technologies in space a priority for space exploration. In this paper, a flexible gripper inspired by the dermo-muscular sac found in flatworms is presented to address the challenges of non-cooperative target capture in the vacuum environment of space. The gripper design leverages magnetorheological fluid (MRF) and a magnetic field to enable adjustable stiffness, facilitating the effective grasping of delicate target objects while ensuring a stable connection post-capture. Extensive tests demonstrate the strong potential of the gripper for space applications, showcasing its ability to adjust pre-grip contact force and increase gripping force by adjusting indentation depth. The simplicity of the design contributes to ease of manufacturing, making it a promising tool for future space missions.

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Section: Introductionmentioning

confidence: 99%

Bioinspired flexible gripper for vacuum non-cooperative target capture

Xia,

Sai,

et al. 2024

Smart Mater. Struct.

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“…Among jaw grippers, an extreme division is evident in terms of participation of the degree of MRF in the gripping process. The solutions described in [35][36][37][38][39][40] have elements (such as clutches or pistons) in their construction. Due to their indirect participation in grasping objects, they were classified as devices with a low degree of participation of MRF in the grasping process.…”

Section: Introductionmentioning

confidence: 99%

“…The grey rectangle indicates the area covered by the article. The Grippers' images are from the following publications [6,[14][15][16][17]21,22,[30][31][32][33][34][35][36][37][38][39][40][41].…”

Section: Introductionmentioning

confidence: 99%

Design and Optimization of a Magnetic Field Exciter for Controlling Magnetorheological Fluid in a Hybrid Soft-Rigid Jaw Gripper

Białek

Jędryczka

2023

Energies

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The paper deals with an optimization of a magnetic circuit of the field exciter designed to control magnetorheological fluid (MRF) in a hybrid soft–rigid jaw gripper. The case discussed includes sealing of the MRF inside a cushion made of thermoplastic polyurethane (TPU). The shear stress distributions in the MRF upon magnetic field excitation have been analyzed for various permanent magnet, yoke, and air gap dimensions. In the developed numerical model of the magnetic field exciter, the geometry of the considered domain was parameterized. As part of the simulation study, more than 4600 variants of the magnetic circuit were analyzed, for which the shear stress distribution in the MRF inside the cushion was determined. The numerical model has been implemented in the Ansys Electronics Desktop 2020 finite element method (FEM) package. Research was focused on finding dimensions of the magnetic circuit that ensure the desired distribution of the shear stress in the MRF inside the cushion. The undeformed and deformed by axial plunging of the pin cushions geometries have been analyzed. The evaluation criteria were the achievement of the highest possible value of the shear stress and the uniformity of its distribution in the given cross-sectional area of the MRF inside the cushion. The main objective of the analysis was to design the magnetic field exciter for application in the jaw pads of a gripper using MRF cushions. Through research, a suitable configuration tailored to the needs of the application was proposed.

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