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- 저자 : Jiqiang Dong (검색결과 1 건)
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Design and performance analysis of magnetorheological grease flexible manipulator gripper
Xudan Ye,Jiqiang Dong,Wenchao Wang,Jing Lu,Jiong Wang 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.3
To address the issue of traditional manipulators being unable to grasp and operate objects of varying shapes or easily damaged objects in some work scenes, a new type of flexible manipulator with magnetorheological grease based on the magnetorheological effect was developed. Comsol was used to simulate the magnetic field of the flexible gripper. The results showed that as coil current increased, the magnetic induction intensity increased, the magnetic induction line began to close to the rubber capsule after the shell support was added, the magnetorheological grease solidified after the magnetic field was applied, and the object could be wrapped and grasped. Then the kinematics and grasping ability of the flexible manipulator with magnetorheological grease in the grasping process are analyzed. Finally, an experimental test platform for the magnetorheological grease flexible manipulator is built, and under different currents (0 A, 0.25 A, 0.5 A, 0.75 A, 1 A), the flexible manipulator is tested for different gripping depths (6 mm, 11 mm, 17.5 mm) and a variety of diameter wooden balls (15 mm, 40 mm, 60 mm) gripping ability. The results show that when the gripping depth is constant, the envelope angle of the flexible fingertip to the sphere decrease with the increase of the diameter of the sphere, and when the diameter of the sphere is constant, the higher the grasping depth of the flexible fingertip, the larger the envelope angle to the sphere.
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