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Unlocking Versatility: Magnetic-Actuated Deployable Suction Gripper for Complex Surface Handling.

Vera G Kortman1,2, Ellen de Vries1, Jovana Jovanova2

  • 1Department of BioMechanical Engineering, Faculty of 3mE, Delft University of Technology, Delft, The Netherlands.

Soft Robotics
|June 5, 2024
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Summary

This study introduces a novel magnetically-actuated suction gripper capable of attaching to irregular surfaces. The design is miniaturized, allowing access to confined spaces and demonstrating robust performance in various conditions.

Keywords:
magnetic particlesnitinolsmart elastomersoft roboticssuction cupsuction disc

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Area of Science:

  • Robotics and Soft Mechanics
  • Materials Science and Engineering

Background:

  • Suction grippers excel at handling diverse objects but struggle with irregular or rough surfaces.
  • Existing suction gripper designs face limitations in attachment reliability and adaptability to challenging terrains.

Purpose of the Study:

  • To develop a soft suction gripper with magnetic actuation for enhanced attachment capabilities.
  • To enable miniaturization and deployment into confined or hard-to-reach areas.

Main Methods:

  • Integration of magnetic intelligence into a soft suction gripper using a thin magnetic membrane (carbonyl iron particles in silicone).
  • Incorporation of a compliant deploying mechanism with a superelastic nitinol wire frame for miniaturization.
  • Experimental validation of attachment on curved surfaces (radii 50-75 mm) in dry and wet conditions.

Main Results:

  • Demonstrated successful attachment on diverse curved surfaces, achieving a maximum force of 2.89 ± 0.54 N.
  • Achieved 75% folding, allowing the gripper to fit within a Ø 12.5 mm tube for access to restricted spaces.
  • Proof-of-principle prototype confirmed functionality and reliability in varied environments.

Conclusions:

  • The magnetically-actuated deployable suction gripper represents a significant advancement in addressing attachment challenges.
  • The design offers a foundational platform for developing more sophisticated and versatile suction grippers.
  • This innovation opens new possibilities for practical applications in industries requiring precise manipulation in complex environments.