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AN APPROACH TO A FORM-ADAPTIVE COMPLIANT GRIPPER ELEMENT BASED ON MAGNETO-SENSTIVE ELASTOMERS WITH A BIOINSPIRED SENSORIZED SURFACE

Authors: K. Zimmermann, J. Chavez Vega, T. I. Becker, H. Witte, C. Schilling, S. Köhring, V. Böhm, G. J. Monkman, N. Prem , D. Sindersberger, I. Lutz


Abstract:

Magnetic hybrid composites are materials with a promising variety of applications due to their magnetic field tuneable mechanical properties. These special characteristics arouses interest in the study of their novel properties, particularly for the development of actuators, sensor systems and control mechanisms. Magneto-sensitive elastomers consist of a polymer matrix, usually composed of silicone rubber and silicone oil, with embedded magnetic particles. A field of application ideally suited to such materials is compliant (form-fit) prehension. Theoretical and experimental investigations are used to implement an end-effector for robotic systems based on this composite. A biomimetic sensory layer is added to a selected sample, and finally the behaviour in response to a defined deformation for a specific geometry is simulated using finite element methods. An outlook regarding the technological production potential is given. The described investigations form the basis for the development of a soft fully compliant form-fit gripper with variable stiffness and intrinsic sensing capabilities.

Keywords: magneto-sensitive elastomer; field-induced plasticity; static magnetic field; shape memory polymer; finite element simulation, soft robotics.

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