Open Access

Jennifer J. Blöchle, Thomas Wendt, Thomas Seifert

• Manipulating fragile objects of different shapes is a major robotics challenge. This led to the development and investigation of various gripper concepts with different flexible materials. This concept study focuses on the development of a shape-adaptive gripper that uses additively manufactured cylinders with variable heights and Shore hardness to achieve optimal adaptability and ripping force.Manipulating fragile objects of different shapes is a major robotics challenge. This led to the development and investigation of various gripper concepts with different flexible materials. This concept study focuses on the development of a shape-adaptive gripper that uses additively manufactured cylinders with variable heights and Shore hardness to achieve optimal adaptability and ripping force. The cylinders are filled with magnetorheological fluid (MRF), the properties of which are controlled by a standard electromagnet operating at 24 volts and 2 amps. The proposed concept aims to systematically investigate the influence of cylinder height, MRF volume, and material hardness on adaptability and gripping stability. Cylinders of varying heights allow for variations in MRF volume, enabling analysis of the fluid’s volumetric behavior under the influence of a magnetic field. The Shore hardness of the additively manufactured structures is incrementally adjusted to optimize the balance between flexibility and structural stability. The electromagnet stimulates the MRF, altering its viscosity and stiffness to enable effective adaptation to various object geometries. The concept combines the properties of flexible materials and active fluids in a modular design, making it relevant for diverse applications such as robotics and automation.…