EPM?MRE: Electropermanent Magnet?Magnetorheological Elastomer for Soft Actuation System and Its Application to Robotic Grasping
EPM?MRE: Electropermanent Magnet?Magnetorheological Elastomer for Soft Actuation System and Its Application to Robotic Grasping
复制标题
EPM？MRE：电永磁体？用于软驱动系统的磁流变弹性体及其在机器人抓取中的应用
DOI：
10.1109/lra.2021.3100939
复制
发表时间：
2021
影响因子：
5.2
通讯作者：
Shigeki Sugano
中科院分区：
文献类型：
--
作者：
Peizhi Zhang;Mitsuhiro Kamezaki;Zhuoyi He;Hiroyuki Sakamoto;Shigeki Sugano
传统的柔性机器人抓手主要是基于柔性气动执行器或智能软材料开发的，但需要外部压力源，容易退化或在毫米级使用，导致自主性、不稳定性和脆弱性增加。本文提出了一种电永磁-磁流变弹性体（Electropermanent Magnet-Magnetorheological Elastomer，EPM-MRE）驱动系统，通过非接触磁力驱动，增强了软驱动的独立性和稳定性。通过研制吸盘式机器人手爪，确立了其基本原理，并对其参数设计进行了研究。基于磁荷模型和拉伸模型设计了一种EPM-MRE驱动吸盘，并通过引入锥台杆轴对称结构和双硅胶结构均匀激活MRE膜来优化吸盘结构。测试了不同电流脉冲对电火花的激活作用以及触头形状和气隙对电火花吸力的影响。评估表明，吸盘可以在10 ms内激活，并在稳态下产生9.2 N的最大吸力，能耗为0 J。总之，EPM-MRE软驱动系统可以用作机器人夹持器。
Conventional soft robotic grippers have been developed based on soft pneumatic actuators or using smart soft materials, but they need external pressure sources, are easily deteriorated or used in millimetric-scale, which leads to increase of the independency, instability, and vulnerability. In this study, we propose an EPM–MRE (Electropermanent Magnet–Magnetorheological elastomer) actuation system, which strengthens the independency and stability of soft actuation by non-contact magnetic force. We established its fundamental principle and investigated parameter design through developing a suction cup as a robotic gripper. We prototyped an EPM-MRE actuated suction cup based on magnetic-charge and tensile modeling as well as optimized the structure of EPM by introducing axisymmetric EPM with frustum pole and suction cup by introducing bi-silicone structure to uniformly activate MRE membrane. The activation of EPM by different current pulses and suction force affected by contact shapes and air gaps were tested. Evaluations showed that the suction cup could be activated with 10 ms and generate a maximum suction force of 9.2 N at a steady state with 0 J energy consumption. In conclusion, the EPM-MRE soft actuation system can be used as a robotic gripper.