Journal
ACS APPLIED MATERIALS & INTERFACES
Volume 12, Issue 39, Pages 44147-44155Publisher
AMER CHEMICAL SOC
DOI: 10.1021/acsami.0c11783
Keywords
soft gripper; shape memory; shape adaptation; adaptive skin; elastomer composites; magnetorheological effect
Funding
- Priority Research Centers Program through the National Research Foundation of Korea (NRF) - Ministry of Education [NRF-2018R1A6A1A03025526]
- Institute of Information & communications Technology Planning & Evaluation (IITP) - Korea government (MSIT) [2020-0-00594]
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Developing a simple and universal solution for gripping fragile, multiscaled, and arbitrary-shaped objects using a robot gripper is challenging. Herein, we propose a universal, shape-adaptive/-retaining and reversible, hardness-variable gripper skin that serves as a resourceful solution for grasping such objects without damaging them. The proposed universal gripper skin based on a magnetorheological elastomer is attached to a robot gripper. The proposed skin takes the shape of a target object as soon as the gripper grasps the object. At this time, we solidify the gripper skin by applying a magnetic field, thereby allowing the gripper to grasp the target object easily. After releasing the objects, the magnetic field is removed and the deformed proposed gripper skin rapidly restores its original shape. The proposed adaptive gripper skin is made to grasp various target objects, such as cylinders, cuboids, and triangular prisms, based on which its grasping performance is evaluated.
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