Soft-rigid variable electromagnetic gripper for heavy object grasping

抄録

We developed a soft-rigid variable gripper capable of grasping heavy objects by combining hydraulic cooling, and electromagnetic motion with soft elements and flexible carbon fibers. We design a Liquid-Cooled Laminar Electromagnet (LCLE) considering its pulling force, size, and working temperature under high payload conditions. The electromagnets were sealed with epoxy resin and cooled forcedly to increment their pulling force. The LCLEs were used to design a gripper with two gripping zones and examined the temperature behavior of the electromagnets when grasping objects of various weights and sizes. A 19 kg mass was grasped to analyze the temperature at different fluid speeds.