Magneto Rheological Fluid-Based Conformal Gripper

The Magneto-Rheological Fluid (MRF) based Conformal Gripper is a new mechanical system designed to manipulate objects of varying sizes and shapes in an unstructured environment. The system resembles a vice with a pad or bladder of MRF contained by a frame on five sides on each side of the vice. The MRF has the special ability to change states from a liquid to a solid when a magnetic field is applied across it. In the Conformal Gripper the two bladders in the liquid state come together forming around the object, at this point a magnetic field is applied and the MRF changes to a solid. This allowed the gripper to move, pull, or torque the object. Once desired manipulation was completed the magnetic field was turned off and the two sides of the gripper open released the object. The Conformal Gripper system can be thought of in three fundamental parts: the vice and frame, magnet and controls, and the bladder and fluid. These three subsystems when combined form a unique innovative solution to object manipulation in unstructured environments.