Title :
Development of universal robot gripper using MRα fluid
Author :
Okatani, Yuki ; Nishida, Takeshi ; Tadakuma, Kenjiro
Author_Institution :
Dept. of Mech. & Control Eng., Kyushu Inst. of Technol., Fukuoka, Japan
Abstract :
We developed a smart magnetic fluid called MRα fluid. The specific gravity of the developed fluid is half and its solidification hardness is twice that of MR fluid. In this paper, the characteristics of the MRα fluid and an application that can control solidification under a magnetic field are described. Further, we developed a novel robot gripper using MRα fluid, and several experimental results investigating the features and capabilities of the gripper are presented.
Keywords :
end effectors; grippers; industrial manipulators; magnetic fields; magnetic fluids; MRα fluid; end effectors; industrial robots; magnetic field; smart magnetic fluid; solidification hardness; universal robot gripper; Force; Grippers; Jamming; Magnetomechanical effects; Saturation magnetization; Service robots;
Conference_Titel :
Soft Computing and Intelligent Systems (SCIS), 2014 Joint 7th International Conference on and Advanced Intelligent Systems (ISIS), 15th International Symposium on
DOI :
10.1109/SCIS-ISIS.2014.7044707
