Journal of Information Processing Systems

Korea Information Processing Society (한국정보처리학회)
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Designing a Magnetically Controlled Soft Gripper with Versatile Grasping Based on Magneto-Active Elastomer

  • Li, Rui (School of Automation, Chongqing University of Posts and Telecommunications) ;
  • Li, Xinyan (School of Automation, Chongqing University of Posts and Telecommunications) ;
  • Wang, Hao (School of Automation, Chongqing University of Posts and Telecommunications) ;
  • Tang, Xianlun (School of Automation, Chongqing University of Posts and Telecommunications) ;
  • Li, Penghua (School of Automation, Chongqing University of Posts and Telecommunications) ;
  • Shou, Mengjie (School of Automation, Chongqing University of Posts and Telecommunications)
  • Received : 2021.01.27
  • Accepted : 2021.04.26
  • Published : 2022.10.31
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Abstract

A composite bionic soft gripper integrated with electromagnets and magneto-active elastomers is designed by combining the structure of the human hand and the snake's behavior of enhancing friction by actively adjusting the scales. A silicon-based polymer containing magnetized hard magnetic particles is proposed as a soft finger, and it can be reversibly bent by adjusting the magnetic field. Experiments show that the length, width, and height of rectangular soft fingers and the volume ratio of neodymium-iron-boron have different effects on bending angle. The flexible fingers with 20 vol% are the most efficient, which can bend to 90° when the magnetic field is 22 mT. The flexible gripper with four fingers can pick up 10.51 g of objects at the magnetic field of 105 mT. In addition, this composite bionic soft gripper has excellent magnetron performance, and it can change surface like snakes and operate like human hands. This research may help develop soft devices for magnetic field control and try to provide new solutions for soft grasping.

Keywords

Acknowledgement

We acknowledge the financial support for this work provided by the National Natural Science Foundation of China (52075063, 52105088, and 52211540394), the Innovation Research Group of Universities in Chongqing (CXQT20016), the Special Key Project of Technological Innovation and Application Development in Chongqing (cstc2019jscx-fxydX0085), the High-Level Foreign Expert Introduction Program (G2022035005L), and the Cooperation Project Between Undergraduate Universities in Chongqing and Institutions Affiliated with the Chinese Academy of Sciences (HZ2021018). The authors would like to take this opportunity to express their gratitude to the sponsors.

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