Study on the variable stiffness model of magnetorheological elastomer for soft robots

被引：0
|
作者：
Yu, Lingtao [1 ]
Nie, Hongshuai [1 ]
Yuan, Huaying [1 ]
Ma, Yingbo [1 ]
Yang, Zhiyong [1 ]
Sun, Zhangzhe [1 ]
机构：
[1] College of Electrical and Mechanical Engineering, Harbin Engineering University, Harbin
来源：
Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2024年 / 45卷 / 11期
关键词：
3-D print; diamond model; magnetorheological effect; magnetorheological elastomer; soft robot; stiffness; stiffness control; variable stiffness;
D O I：
10.11990/jheu.202304027
中图分类号：
学科分类号：
摘要：
The grip stiffness of soft robots is simple and insufficient, while the range of variable stiffness in magnetorheological elastomers is limited. This study proposes a model for a magnetorheological elastomer with a large range of variable stiffness. Utilizing the magnetorheological effect, a diamond-shaped variable stiffness model was designed with magnetorheological elastomer as the primary material, and the 3D printing model and casting process were presented. Additionally, a magnetic-force coupling model was constructed based on the magnetic field generated by an electromagnet. The main stiffness variation relation of the diamond-shaped variable stiffness model was analyzed, and the factors affecting the model′s variable stiffness were explored. The experimental results indicate that the “diamond” model proposed in this study significantly enhances the variable stiffness range of the magnetorheological elastomer and allows for precise control of stiffness by adjusting the current. The stiffness change percentage of the model containing three “diamond” structures under the magnetic field can reach approximately 58%, enabling the application of magnetorheological elastomer as a type of “skin” for soft robot grips. © 2024 Editorial Board of Journal of Harbin Engineering. All rights reserved.
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页码：2259 / 2265
页数：6
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