MR Fluid Jamming Gripper Applying Internally-Balanced Magnetic Unit Controllable by Small Control Force

- 1st Report: Basic Structure Prototyping, Miniaturization and Enhancement by Arraying Magnets -

Abstract

Able to grasp objects of any shape and size, universal jamming grippers using magneto-rheological fluid have been developed. However, as they require magnetic flux to change the stiffness, conventional MR grippers consume electricity to attach and detach a permanent magnet, to drive a solenoid of an electromagnet, and to cancel the flux of an electro-permanent magnet. In this research, the authors proposed a new method of supplying the flux using the Internally-Balanced Magnetic Unit, a mechanism that enables a permanent magnet to be controlled by a much smaller force than its attraction force. They realized its prototyping model and conducted experiments to show its effectiveness.