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Mechanical Systems01:22

Mechanical Systems

257
Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
257

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Design and Feasibility Study of MRG-Based Variable Stiffness Soft Robot.

Luojing Huang1,2, Hongsheng Hu2, Qing Ouyang2,3,4

  • 1College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China.

Micromachines
|November 24, 2022
PubMed
Summary

This study introduces a novel variable stiffness soft robot using magnetorheological grease (MRG). The robot hand achieves adaptable gripping by controlling MRG stiffness, reducing damage to objects.

Keywords:
MRGadaptivityhalbach arraymagnetic–air structurevariable stiffness

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Area of Science:

  • Robotics
  • Materials Science
  • Soft Robotics

Background:

  • Conventional pneumatic soft robots lack sufficient stiffness.
  • Electromagnet-based magnetorheological soft robots suffer from bulky structures and poor flexibility.

Purpose of the Study:

  • To develop a variable stiffness soft robot using magnetorheological grease (MRG) to overcome limitations of existing soft robotic grippers.
  • To enhance gripping adaptivity and provide rigid support for various objects.

Main Methods:

  • Integration of a magnetorheological grease (MRG) layer onto the gripping surface.
  • Design of a novel magnetic-air structure with a Halbach array and actuator within soft fingers.
  • Utilizing bending actuation for gripping force and a Halbach array for a flexible magnetic field.

Main Results:

  • Demonstrated change in MRG state and clamping surface stiffness under 30 kPa working pressure.
  • Theoretical and simulation analyses confirmed the variable stiffness mechanism.
  • Experimental validation of high adaptivity and reduced object damage.

Conclusions:

  • The proposed magnetorheological grease-based soft robot offers tunable stiffness for adaptable gripping.
  • The magnetic-air structure provides a flexible magnetic field, enhancing performance.
  • This technology has the potential to minimize damage to delicate gripped objects.