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Investigation of Thermoplastic Polyurethane Finger Cushion with Magnetorheological Fluid for Soft-Rigid Gripper

Author

Listed:
  • Marcin Białek

    (Division of Mechatronic Devices, Poznan University of Technology, 60-965 Poznan, Poland)

  • Cezary Jędryczka

    (Division of Mechatronics and Electrical Machines, Poznan University of Technology, 60-965 Poznan, Poland)

  • Andrzej Milecki

    (Division of Mechatronic Devices, Poznan University of Technology, 60-965 Poznan, Poland)

Abstract

This paper presents a study of penetrating a pin into a magnetorheological fluid (MR) cushion focused on the force measurement. The research is supported by detailed finite element analysis (FEA) of the magnetic field distributions in several magnetic field exciters applied to control rheological properties of the MR inside the cushion. The cushion is a part of the finger pad of the jaw soft-rigid gripper and was made of thermoplastic polyurethane (TPU) using 3D printing technology. For the pin-penetrating setup, the use of a holding electromagnet and a magnetic holder were considered and verified by simulation as well as experiment. In further simulation studies, two design solutions using permanent magnets as the source of the magnetic field in the cushion volume to control MR fluid viscosity were considered. The primary aim of the study was to analyze the potential of using an MR fluid in a cushion pad and to investigate the potential for changing its viscosity using different magnetic field sources. The analysis included magnetic field simulations and tests of pin penetration in the cushion as an imitation of object grasping. Thus, an innovative application of 3D printing and TPU to work with MR fluid is proposed.

Suggested Citation

  • Marcin Białek & Cezary Jędryczka & Andrzej Milecki, 2021. "Investigation of Thermoplastic Polyurethane Finger Cushion with Magnetorheological Fluid for Soft-Rigid Gripper," Energies, MDPI, vol. 14(20), pages 1-19, October.
    • Handle: RePEc:gam:jeners:v:14:y:2021:i:20:p:6541-:d:654113
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    Cited by:

    1. Marcin Białek & Cezary Jędryczka, 2023. "Design and Optimization of a Magnetic Field Exciter for Controlling Magnetorheological Fluid in a Hybrid Soft-Rigid Jaw Gripper," Energies, MDPI, vol. 16(5), pages 1-21, February.

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