Development of universal parallel gripper using reformed magnetorheological fluid

Yusuke Tsugami, Thibault Barbie, Kenjiro Tadakuma, Takeshi Nishida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

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 viscosity of the reformed MR fluid, and an innovative elastic membrane to increase durability. The developed robot gripper grips and releases objects precisely, without excessive force, because the elastic parts can fit to the target shape. The gripper is driven quietly and can grip fragile and soft objects of various shapes. We performed numerous experiments to measure the gripping capacity of our gripper, and showed that it possesses force control, while also being able to move at high speeds.

Original languageEnglish
Title of host publication2017 Asian Control Conference, ASCC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages778-783
Number of pages6
ISBN (Electronic)9781509015733
DOIs
Publication statusPublished - 2018 Feb 7
Event2017 11th Asian Control Conference, ASCC 2017 - Gold Coast, Australia
Duration: 2017 Dec 172017 Dec 20

Publication series

Name2017 Asian Control Conference, ASCC 2017
Volume2018-January

Other

Other2017 11th Asian Control Conference, ASCC 2017
CountryAustralia
CityGold Coast
Period17/12/1717/12/20

ASJC Scopus subject areas

  • Control and Optimization

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  • Cite this

    Tsugami, Y., Barbie, T., Tadakuma, K., & Nishida, T. (2018). Development of universal parallel gripper using reformed magnetorheological fluid. In 2017 Asian Control Conference, ASCC 2017 (pp. 778-783). (2017 Asian Control Conference, ASCC 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASCC.2017.8287269