Characterization of a novel two-finger variable reluctance gripper

摘要

Variable reluctance (VR) actuator has a simple and robust structure. Without any permanent magnet, it is low cost; easy to manufacture, highly reliable, and can operate in hostile temperatures. However, it is inherently nonlinear, and is difficult to control and operate as a proportional device. With the advancement of digital signal processors and power electronic drives in recent years, advance modeling techniques and control solutions can be realized onto VR actuators applications. For these reasons, VR actuators have redrawn research interests. The paper describes the investigation and development of a novel two-finger gripper using VR technology. A novel two-finger VR gripper has been proposed and fabricated. Characterization measurements of the VR gripper were carried out. Measurement results show that the proposed actuator exhibits general characteristics as VR actuators and becomes more efficient through making use of mutual coupling.