Characterization of a novel two-finger variable reluctance gripper

Area of Science:

• Robotics and Control Systems
• Actuator Technology
• Mechatronics Engineering

Background:

• Variable reluctance (VR) actuators offer a cost-effective, robust, and reliable alternative to traditional actuators, suitable for extreme environments.
• Despite advantages, VR actuators present inherent nonlinearities, complicating precise control and proportional operation.
• Recent advancements in digital signal processing and power electronics enable sophisticated control strategies for VR actuators.

Purpose of the Study:

• To investigate and develop a novel two-finger gripper based on variable reluctance (VR) actuator technology.
• To address the control challenges associated with VR actuators in a practical gripper application.
• To enhance the efficiency of VR actuators through the utilization of mutual coupling.

Main Methods:

• Design and fabrication of a novel two-finger gripper employing VR actuator principles.
• Conducting characterization measurements to evaluate the performance of the VR gripper.
• Analyzing the impact of mutual coupling on the actuator's efficiency and operational characteristics.

Main Results:

• Successful fabrication and characterization of a novel two-finger VR gripper.
• The developed gripper exhibits typical VR actuator characteristics.
• Measurements indicate enhanced efficiency achieved by exploiting mutual coupling within the VR actuator.

Conclusions:

• The novel two-finger VR gripper demonstrates the feasibility of applying VR technology to gripping applications.
• The research highlights the potential of VR actuators to overcome inherent nonlinearities with advanced control.
• Exploiting mutual coupling is a key factor in improving the efficiency of VR actuators in practical devices.