Design Of The General Mechanical Gripper Based On Magnetorheological Effect

In recent years,robots have been widely used in various industries.Mechanical grippers have been widely studied and studied as the executing parts of the robot's specific grasping actions.At present,all types of mechanical grippers have many problems such as complicated structure and poor versatility,which limits the application of robot technology in some aspects.Therefore,research and development of universal and efficient mechanical grippers have important engineering significance and practical values.Magnetorheological Fluid(MRF)is usually a liquid.Under the action of an external magnetic field,it is in the nature of a solid.When the magnetic field is removed,the original flow property is restored,that is,the liquid and the solid state are fast.Reversible conversion,and this conversion response is fast(ms level),good reversibility.Based on the above properties of MRF,this paper designs a general-purpose mechanical grippers with simple structure,good universality,fast response,and flexible gripping.The gripper performance is tested and analyzed.The main work is as follows:(1)The MRF was prepared using a liquid-substitution method,an experimental platform was set up,and the mechanical properties of the MRF under the action of a magnetic field were tested.It was found that the stress changes with strain during the extrusion and drawing process and is divided into three stages.Analyze the evolution of microstructure in each stage;further study the settlement stability and pre-structured process of MRF,and provide reference for the design of magnetorheological gripper.(2)According to the working and mechanical properties of MRF extrusion and drawing,the MRF finger-tip working mode was put forward,and the initial magnetorheological fixture was designed.The gripping tests of different shaped objects were performed,and it was found that it had good versatility and was based on grabbing.The disadvantages of instability,proposed magnetic field cohesion optimization design.(3)The overall magnetic circuit was re-planned based on an optimized scheme.ANSYS finite element software was used to optimize the magnetic field distribution in the MRF work area and determine the appropriate size of the magneto-rheological finger sets.The optimized magneto-rheological fixture had excellent versatility;the use of INSTRON materials The testing machine tests the gripping force of the magneto-rheological fixture and analyzes that the gripping performance is related to the applied current,the shape and size of the gripper,and other factors.On the whole,this paper can provides technical reserves and references for the design of magneto-rheological grippers and related devices,and can also provide guidance for research and application in related fields.