| 초록 |
Developing a simple and common solution for gripping breakable, multiscaled, and random-shaped objects using a robot gripper is challenging. We developed a universal, shape-adaptive/-holding and reversible, hardness-variable magnetorheological elastomer(MRE) for gripper skin that served as a creative solution for grasping such objects without damaging them. The MRE gripper skin was attached to a robot gripper. The magnetorheological elastomer took the shape of a target object whenever the gripper grasped the object. At this time, we applied a magnetic field for solidifying the magnetorheological elastomer, thereby allowing the gripper to grasp the target object easily. After releasing the objects, the magnetic field is removed and the deformed gripper skin immediately restored its original shape. The developed MRE skin was prepared to grasp various target objects, such as cylinders, cuboids, and triangular prisms, and based on which its grasping performance was evaluated. |
