Designing a Magnetically Controlled Soft Gripper with Versatile Grasping Based on Magneto-Active Elastomer

다국어 초록 (Multilingual Abstract)

A composite bionic soft gripper integrated with electromagnets and magneto-active elastomers is designed bycombining the structure of the human hand and the snake’s behavior of enhancing friction by actively adjustingthe scales. A silicon-based polymer containing magnetized hard magnetic particles is proposed as a soft finger,and it can be reversibly bent by adjusting the magnetic field. Experiments show that the length, width, andheight of rectangular soft fingers and the volume ratio of neodymium–iron–boron have different effects onbending angle. The flexible fingers with 20 vol% are the most efficient, which can bend to 90° when themagnetic field is 22 mT. The flexible gripper with four fingers can pick up 10.51 g of objects at the magneticfield of 105 mT. In addition, this composite bionic soft gripper has excellent magnetron performance, and itcan change surface like snakes and operate like human hands. This research may help develop soft devices formagnetic field control and try to provide new solutions for soft grasping.

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