TY - GEN
T1 - Design of a novel variable stiffness gripper using permanent magnets
AU - Memar, Amirhossein H.
AU - Mastronarde, Nicholas
AU - Esfahani, Ehsan T.
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/21
Y1 - 2017/7/21
N2 - This paper presents the design of a novel variable stiffness gripper with two parallel fingers (jaws). Compliance of the system is generated by using permanent magnets as the nonlinear springs. Based on the presented design, the position and stiffness level of the fingers can be adjusted simultaneously by changing the air gap between the magnets. The modeling of magnetic repulsion force and stiffness are presented and verified experimentally. An experiment is also conducted to demonstrate the functionality of the gripper to improve safety when a fragile object was grasped and the gripper collided with an obstacle.
AB - This paper presents the design of a novel variable stiffness gripper with two parallel fingers (jaws). Compliance of the system is generated by using permanent magnets as the nonlinear springs. Based on the presented design, the position and stiffness level of the fingers can be adjusted simultaneously by changing the air gap between the magnets. The modeling of magnetic repulsion force and stiffness are presented and verified experimentally. An experiment is also conducted to demonstrate the functionality of the gripper to improve safety when a fragile object was grasped and the gripper collided with an obstacle.
UR - https://www.scopus.com/pages/publications/85027963856
U2 - 10.1109/ICRA.2017.7989328
DO - 10.1109/ICRA.2017.7989328
M3 - Conference contribution
AN - SCOPUS:85027963856
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2818
EP - 2823
BT - ICRA 2017 - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Y2 - 29 May 2017 through 3 June 2017
ER -