Design and optimization of the magnetic field-driven spherical gripper with adjustable stiffness

This paper presents a new gripping technique that merges the variable stiffness characteristics of conventional magnet-controlled and negative-pressure spherical grippers to produce a spherical gripper capable of securely grasping large and structurally diverse objects. The proposed method incorporates the smart rheological material from magnet-controlled grippers with the particle-jamming smart structure used in negative-pressure grippers. The gripper comprises a magnetic control device and a spherical variable stiffness body. Simulation analysis was used to optimize its structure and enhance the efficiency ratio of the magnetic control device. The flexible variable stiffness body was initially designed to be cylindrical to increase interlocking with objects. Experiments were conducted to evaluate the gripping efficiency and adaptability of the magnetron spherical gripper, which were designed to simulate real-world application requirements. These results suggest that the magnetically controlled spherical gripper can achieve a gripping efficiency of approximately five and securely grasp objects with a relative bladder diameter ranging from 20% to 130%. Furthermore, it can stably grip objects up to an offset distance of 15mm without requiring sensor assistance. The enhanced magnetic field-powered spherical gripper exhibits superior adaptability and efficiency in gripping compared to its counterpart. In addition, it boasts robust resistance against environmental interference.