Designing a Magnetically Controlled Soft Gripper with Versatile Grasping Based on Magneto-Active Elastomer


Rui Li, Xinyan Li, Hao Wang, Xianlun Tang, Penghua Li, Mengjie Shou, Journal of Information Processing Systems Vol. 18, No. 5, pp. 688-700, Oct. 2022  

10.3745/JIPS.04.0256
Keywords: Biomimetics, Magnetic Actuation, Magnetic Particle-Filled Composite, Soft Gripper
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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.


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Cite this article
[APA Style]
Rui Li, Xinyan Li, Hao Wang, Xianlun Tang, Penghua Li, & Mengjie Shou (2022). Designing a Magnetically Controlled Soft Gripper with Versatile Grasping Based on Magneto-Active Elastomer. Journal of Information Processing Systems, 18(5), 688-700. DOI: 10.3745/JIPS.04.0256.

[IEEE Style]
R. Li, X. Li, H. Wang, X. Tang, P. Li and M. Shou, "Designing a Magnetically Controlled Soft Gripper with Versatile Grasping Based on Magneto-Active Elastomer," Journal of Information Processing Systems, vol. 18, no. 5, pp. 688-700, 2022. DOI: 10.3745/JIPS.04.0256.

[ACM Style]
Rui Li, Xinyan Li, Hao Wang, Xianlun Tang, Penghua Li, and Mengjie Shou. 2022. Designing a Magnetically Controlled Soft Gripper with Versatile Grasping Based on Magneto-Active Elastomer. Journal of Information Processing Systems, 18, 5, (2022), 688-700. DOI: 10.3745/JIPS.04.0256.