FEMM Examination of the Gripper with Magnetorheological Cushion

Nowadays, advanced grippers use intelligent devices and materials such as Magnetorheological (MR) fluids to increase object handling capabilities. Gripper constructions are varied and based on the choice between the versatility of the shape of the objects to be grabbed and the ability to orient them in space. An example of a universal solution is jamming gripper, which adapts to the shape of the object, but limits its ability to manipulate the object itself in space. In turn, devices based on the kinematics of gripping jaws lack the ability to adapt to the geometry of the object being gripped. This article describes the Finite Element Method Magnetics (FEMM) analysis of the design of an innovative MR cushion solution that is the pad of the jaw gripper, which is meant to be a human equivalent. Furthermore it is susceptible to make a physical contact with the surface of the object and stiffening as a result of the generated magnetic field to provide a secure grip.