A novel soft microgripper using divided-electrode type flexible ER valves

For maintenance microrobots for small diameter pipes in power plants and so on, a novel microgripper using divided-electrode type flexible electro-rheological valves (DE-FERVs) was proposed and developed. Each bendable finger consisted of the DE-FERV and a hydraulic rubber actuator and was several m...

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Autores principales:	Kazuhiro YOSHIDA, Souta HARA, Sang In EOM, Shinichi YOKOTA
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2015
Materias:	actuator soft actuator microactuator electro-rheological fluid (erf) er valve gripper flexible Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/d7f954842f224cf7a4ada681b54b0866
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spelling	oai:doaj.org-article:d7f954842f224cf7a4ada681b54b08662021-11-26T06:32:14ZA novel soft microgripper using divided-electrode type flexible ER valves2187-974510.1299/mej.15-00340https://doaj.org/article/d7f954842f224cf7a4ada681b54b08662015-11-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/2/6/2_15-00340/_pdf/-char/enhttps://doaj.org/toc/2187-9745For maintenance microrobots for small diameter pipes in power plants and so on, a novel microgripper using divided-electrode type flexible electro-rheological valves (DE-FERVs) was proposed and developed. Each bendable finger consisted of the DE-FERV and a hydraulic rubber actuator and was several millimeters long. The DE-FERV had an axially divided parallel plate electrode pairs in a flexible tube. Each parallel plate electrode pair controlled the electro-rheological fluid (ERF) flow by changing the viscosity with the electric field. The DE-FERV had both high flexibility and sufficient pressure control range. The hydraulic rubber actuator had plural integrated walls inside to restrict its radial expansion and axially extended by the inner pressure controlled by the DE-FERV. A finger large model was fabricated and experimentally characterized. Then, a gripper having two fingers was constructed and the object handling was demonstrated.Kazuhiro YOSHIDASouta HARASang In EOMShinichi YOKOTAThe Japan Society of Mechanical Engineersarticleactuatorsoft actuatormicroactuatorelectro-rheological fluid (erf)er valvegripperflexibleMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 2, Iss 6, Pp 15-00340-15-00340 (2015)
institution	DOAJ
collection	DOAJ
language	EN
topic	actuator soft actuator microactuator electro-rheological fluid (erf) er valve gripper flexible Mechanical engineering and machinery TJ1-1570
spellingShingle	actuator soft actuator microactuator electro-rheological fluid (erf) er valve gripper flexible Mechanical engineering and machinery TJ1-1570 Kazuhiro YOSHIDA Souta HARA Sang In EOM Shinichi YOKOTA A novel soft microgripper using divided-electrode type flexible ER valves
description	For maintenance microrobots for small diameter pipes in power plants and so on, a novel microgripper using divided-electrode type flexible electro-rheological valves (DE-FERVs) was proposed and developed. Each bendable finger consisted of the DE-FERV and a hydraulic rubber actuator and was several millimeters long. The DE-FERV had an axially divided parallel plate electrode pairs in a flexible tube. Each parallel plate electrode pair controlled the electro-rheological fluid (ERF) flow by changing the viscosity with the electric field. The DE-FERV had both high flexibility and sufficient pressure control range. The hydraulic rubber actuator had plural integrated walls inside to restrict its radial expansion and axially extended by the inner pressure controlled by the DE-FERV. A finger large model was fabricated and experimentally characterized. Then, a gripper having two fingers was constructed and the object handling was demonstrated.
format	article
author	Kazuhiro YOSHIDA Souta HARA Sang In EOM Shinichi YOKOTA
author_facet	Kazuhiro YOSHIDA Souta HARA Sang In EOM Shinichi YOKOTA
author_sort	Kazuhiro YOSHIDA
title	A novel soft microgripper using divided-electrode type flexible ER valves
title_short	A novel soft microgripper using divided-electrode type flexible ER valves
title_full	A novel soft microgripper using divided-electrode type flexible ER valves
title_fullStr	A novel soft microgripper using divided-electrode type flexible ER valves
title_full_unstemmed	A novel soft microgripper using divided-electrode type flexible ER valves
title_sort	novel soft microgripper using divided-electrode type flexible er valves
publisher	The Japan Society of Mechanical Engineers
publishDate	2015
url	https://doaj.org/article/d7f954842f224cf7a4ada681b54b0866
work_keys_str_mv	AT kazuhiroyoshida anovelsoftmicrogripperusingdividedelectrodetypeflexibleervalves AT soutahara anovelsoftmicrogripperusingdividedelectrodetypeflexibleervalves AT sangineom anovelsoftmicrogripperusingdividedelectrodetypeflexibleervalves AT shinichiyokota anovelsoftmicrogripperusingdividedelectrodetypeflexibleervalves AT kazuhiroyoshida novelsoftmicrogripperusingdividedelectrodetypeflexibleervalves AT soutahara novelsoftmicrogripperusingdividedelectrodetypeflexibleervalves AT sangineom novelsoftmicrogripperusingdividedelectrodetypeflexibleervalves AT shinichiyokota novelsoftmicrogripperusingdividedelectrodetypeflexibleervalves
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A novel soft microgripper using divided-electrode type flexible ER valves

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