摘要
Aimed at the problems of grippers struggling to adapt to irregular shapes and having insufficient grasping ability,reported here is a smart trapezoidal skin based on trapezoidal interlocking and magnetorheological stiffness.The skin has upper and lower trapezoidal interlocking structures made from a magnetorheological elastomer,and its internal cavity is filled with magnetorheological grease.During the grasping process,the elastomer trapezoidal structural units provide better support and interlocking,while the magnetorheological grease realizes rapid stiffness adjustment under a magnetic field.This design offers good adaptability to irregular shapes as well as enhanced grasping capability via trapezoidal interlocking and magnetically variable stiffness.Furthermore,introducing a liquid-metal resistive sensing layer enables the skin to detect the slip state of the object,and the magnetic field generated by an electromagnet controlled by a microcontroller increases the skin stiffness and improves the grasping performance.As reported here,the support and interlocking of trapezoidal structures and the magnetovariable stiffness of magnetorheological materials are used comprehensively to provide a new reference for the design of variable-stiffness grippers.
基金
supported by the National Natural Science Foundation of China(Grant No.52075264).
