Simulation-driven parameter study of concentric Halbach cylinders for magnetorheological robotic grasping

Cramer, Jeroen; Cramer, Martijn; Demeester, Eric; Kellens, Karel

doi:10.1016/j.jmmm.2021.168637

Cited by 3 publications

(1 citation statement)

References 26 publications

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“…In this case, the authors also used an MRF enhanced with carbon microbeads. At the same time, it is worth noting that research is being carried out on progressive magnetic field source designs for gripper applications using MRFs [18]. Regarding the use of magnetorheology, it is also worth pointing out studies of the use of magnetorheological elastomer (MRE) in grippers [19,20].…”

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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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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Halbach Array Collaborative Robot End Effector for Advanced Handling of Magnetic Materials

Schorr,

Scaparo,

Thakur

et al. 2024

2024 IEEE International Magnetic Conference - Short Papers (INTERMAG Short Papers)

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A review on the magnetorheological materials and applications

Yang,

Pan,

Wang

2024

International Journal of Applied Electromagnetics and Mechanics

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Magnetorheological materials refer to field-response smart materials whose properties are controllable with a magnetic field, including fluid, grease, elastomer, and gel. The unique magnetorheological effect exhibited by these smart materials is a physical phenomenon where physics and engineering intersect and has extensive application prospects in modern machinery. In electro-mechanical systems, magnetorheological materials offer a superior design method for mechanical devices used in the fields of transmission, damping, and braking. It is important to control the magnetorheological materials for advancing the design philosophy of modern electro-mechanical devices. Hence, this paper presents a recent progressive review on the fundamentals of magnetorheological materials and numerous applications. Firstly, an introduction to the magnetorheological effect and different types of magnetorheological materials are presented in this review. Then, the individual and coupled effects of sedimentation, temperature, and magnetic field on magnetorheological materials are discussed. Finally, magnetorheological materials-based devices have been extensively reviewed, including actuator, clutch, damper, brake, pump, valve, and robot, thus aiming to provide useful information for facilitating the design of complex electro-mechanical systems.

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Simulation-driven parameter study of concentric Halbach cylinders for magnetorheological robotic grasping

Cited by 3 publications

References 26 publications

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

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

Halbach Array Collaborative Robot End Effector for Advanced Handling of Magnetic Materials

A review on the magnetorheological materials and applications

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