Journal
CIRP ANNALS-MANUFACTURING TECHNOLOGY
Volume 62, Issue 1, Pages 21-25Publisher
ELSEVIER
DOI: 10.1016/j.cirp.2013.03.002
Keywords
Handling; Model; Adhesion
Funding
- Battelle
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The magnetorheological properties of ferrofluids (or smart, or active fluids) are well known, and are currently exploited in shear in advanced damping systems in the automotive industry, robotics (prosthesis), and machine tools (chatter reduction, positioning). This paper proposes an end effector for gripping by a novel form of controllable wet adhesion inspired by gastropod pedal mucus. The design of a gripper has been proposed, along with performance analysis based on experiments on various parameters, materials and surfaces, exhibiting robustness in unknown and dirty environment, typical of disassembly. Benefits over competing handling technologies and future research directions in this new area have been addressed. (C) 2013 CIRP.
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