Friction variable rubber pad using magnetorheological elastomer for robot grippers

被引：0

作者：

Park, Jae-Eun ^{[1
]}

Shin, Ha-Neul ^{[2
]}

Park, Jihyuk ^{[2
]}

Suh, Juwon ^{[3
]}

Kim, Young-Keun ^{[1
]}

机构：

[1] Handong Global Univ, Sch Mech & Control Engn, Handongro 558, Pohang 37554, South Korea

[2] Yeungnam Univ, Dept Automot Engn, Gyongsan, South Korea

[3] Hanyang Univ, Dept Elect Engn, Seoul, South Korea

来源：

JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES | 2023年 / 34卷 / 03期

基金：

新加坡国家研究基金会;

关键词：

Magnetorheological elastomer; variable friction coefficient; friction control; gripper tip; smart rubber pad; MAGNETO-RHEOLOGICAL ELASTOMER; VIBRATION ABSORBER; SURFACE; DESIGN;

D O I：

10.1177/1045389X221103479

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper is focused on developing a friction-variable rubber pad using magnetorheological elastomer (MRE) for robot gripper applications. Tribological experiments were conducted on the designed rubber pad to analyze the friction variation on various surface types such as plastics, aluminum, and glass. Experimental results showed that the frictional coefficient can be varied as much as 40% when a magnetic field of 250 mT was applied. Furthermore, prototypes of robot grippers with MRE pads were manufactured and tested to analyze the translation and rotation friction force control in grabbing, releasing, and turning an object. Experiments confirmed that the proposed robot gripper pad can control the overall friction force by more than 48%, validating the applicability of the MRE pads for robotic applications.

引用

页码：292 / 302

页数：11

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