Potential Application Of Ferrofluid For Robot Gripping Mechanism

Amirul , Sait (2008) Potential Application Of Ferrofluid For Robot Gripping Mechanism. Project Report. UTeM, Melaka,Malaysia. (Submitted)

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Abstract

Ferrofluids are magnetically controllable fluids where it can be used in positioning system as an active medium. With an applied external magnetic field, the capability of the ferrofluid is the main properties for the research. In this study, ferrofluid are used to develop a potential application in gripping mechanism. The properties and the influences of the ferrofluid in positioning are gathered and the research start with identify the title main element which is ferrofluid and the robot gripping mechanism. Through the literature review, the mechanisms are developed and the development of the robot gripping mechanism presented in order to come out with a replica. The methodology consist the method used and explanation related to the robot gripping mechanism development. Furthermore, the conceptual design presented for design development and the selection is according to the Pugh screening concept. Then, detail design through the simulation, replication and analysis process. The simulation output shows how the mechanism works and gives better understanding about the ferrofluid movement. Analysis on the force and the moment for the finger and shaft presented according to free body diagram from the replication. In this case the spring constant or force constant of the spring determined in order to know the suitable spring force. In addition, the viscosity of the ferrofluid discussed as it reflect proportionally to the current.

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