磁気粘弾性エラストマーを用いた制御可能な吸着とピッキングへの適用検討

抄録

In order to grasp and hold uneven objects, a robust adhesion mechanism is required. This paper propose a new universal hand which has controllable adhesion using Magneto-Rheological Elastomer (MRE) as a technique to grasp to non-magnetic materials and uneven surface. This material is similar to Magneto-Rheological Fluid, however it is both simple to use for rough surface and clean to sticking surface. In this paper, we propose a composition of MRE for robot hand and experimentally evaluate yield stresses in a normal direction. Based on the MRE, controllable adhesion using MRE is applied to various type of material and shows effectiveness for uneven surface.