Development of universal parallel gripper using reformed magnetorheological fluid

Yusuke Tsugami, Thibault Barbie, Kenjiro Tadakuma, Takeshi Nishida

研究成果: Conference contribution

3 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトル2017 Asian Control Conference, ASCC 2017
出版者Institute of Electrical and Electronics Engineers Inc.
ページ778-783
ページ数6
ISBN(電子版)9781509015733
DOI
出版物ステータスPublished - 2018 2 7
イベント2017 11th Asian Control Conference, ASCC 2017 - Gold Coast, Australia
継続期間: 2017 12 172017 12 20

出版物シリーズ

名前2017 Asian Control Conference, ASCC 2017
2018-January

Other

Other2017 11th Asian Control Conference, ASCC 2017
Australia
Gold Coast
期間17/12/1717/12/20

ASJC Scopus subject areas

  • Control and Optimization

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  • これを引用

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