139415 2 179-186

mme.modares.ac.ir

: Please cite this article using:

A. Naimzad, Y. Hojjat, Design and fabrication of two fingers flexible miniature gripper based on porous magnetorheological nanocomposites and its operational study,Modares Mechanical Engineering Vol. 15, No. 2, pp. 179-186, 2015 (In Persian)

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Design and fabrication of two fingers flexible miniature gripper based onporous magnetorheological nanocomposites and its operational study

Aref Naimzad, Yousef Hojjat*

Department of Mechanical Engineering, Tarbiat Modares University, Tehran, IranP.O.B. 14115-143, Tehran, Iran, yhojjat@modares.ac.ir

ARTICLE INFORMATION ABSTRACTOriginal Research PaperReceived 05 November 2014Accepted 09 December 2014Available Online 27 December 2014

This paper deals with the design and fabrication of an adjustable, two finger flexible miniaturegripper based on porous magnetorheological nanocomposites having the adjustability of pre-opening of the jaw’s tips and its operational study according to performance. The fabricatedgripper holds the small size and lightweight objects, maintains them and releases them asrequired upon reducing the electrical current. The magnetic analysis has been done and magneticsimulation was conducted using Vizimag software. Lead, condensed paper, foam and silicon wafersheets were used as under experiment materials and it was observed that the device is workingproperly to grip the things which have rough surfaces. For greater objects, it can be adjustedthrough its tips as well. In this scheme, the magnetic actuation has been used because themagnetorheological nanocomposite is the most sensitive material against the magnetic field. Thistype of gripper includes the simple montage, lower fabrication prices and its own lower volume aswell as weight, and there is no need to apply the classic mechanical linkage inside. These types ofgrippers are recommended for applications in the fields of the micro electromechanical systems,especially in the holding and transporting of sensitive work pieces against scratches, fingerprintsand pressure.

Keywords:GripperMiniatureFlexibleNanocompositesMagnetorheological

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