Suction grippers offer a distinct advantage in their ability to handle a wide range of items. However, attaching these grippers to irregular and rough surfaces presents an ongoing challenge. To address this obstacle, this study explores the integration of magnetic intelligence into a soft suction gripper design, enabling fast external magnetic actuation of the attachment process. Additionally, miniaturization options are enhanced by implementing a compliant deploying mechanism. The resulting design is the first-of-its-kind magnetically-actuated deployable suction gripper featuring a thin magnetic membrane (Ø 50 mm) composed of carbonyl iron particles embedded in a silicone matrix. This membrane is supported by a frame made of superelastic nitinol wires that facilitate deployment. During experiments, the proof-of-principle prototype demonstrates successful attachment on a diverse range of curved surfaces in both dry and wet environments. The gripper achieves attachment on curved surfaces with radii of 50-75 mm, exerting a maximum attachment force of 2.89 ± 0.54 N. The current gripper design achieves a folding percentage of 75%, enabling it to fit into a Ø 12.5 mm tube and access hard-to-reach areas while maintaining sufficient surface area for attachment forces. The proposed prototype serves as a foundational steppingstone for further research in the development of reliable and effective magnetically-actuated suction grippers across various configurations. By addressing the limitations of attachment to irregular surfaces and exploring possibilities for miniaturization and precise control, this study opens new avenues for the practical application of suction grippers in diverse industries and scenarios.

中文翻译：

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解锁多功能性：用于复杂表面处理的磁驱动可展开吸力夹具。


吸力夹具在处理各种物品的能力方面具有明显的优势。然而，将这些夹具固定在不规则和粗糙的表面上是一个持续的挑战。为了解决这个障碍，本研究探索将磁智能集成到软吸力夹具设计中，从而实现附着过程的快速外部磁驱动。此外，通过实施合规的部署机制增强了小型化选项。由此产生的设计是首个磁驱动可展开吸力夹具，具有薄磁膜（直径 50 毫米），由嵌入硅胶基质中的羰基铁颗粒组成。该膜由超弹性镍钛诺线制成的框架支撑，便于部署。在实验过程中，原理验证原型展示了在干燥和潮湿环境中各种曲面上的成功附着。该夹具可实现在半径为 50-75 mm 的曲面上的附着，施加的最大附着力为 2.89 ± 0.54 N。当前的夹具设计实现了 75% 的折叠百分比，使其能够装入 Ø 12.5 mm 的管子中并进入难以到达的区域，同时保持足够的表面积以承受附着力。所提出的原型可以作为进一步研究开发各种配置的可靠且有效的磁驱动吸盘的基础垫脚石。通过解决不规则表面附着的局限性并探索小型化和精确控制的可能性，这项研究为吸力夹具在不同行业和场景中的实际应用开辟了新途径。