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http://hdl.handle.net/1942/37285
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DC Field | Value | Language |
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dc.contributor.author | CRAMER, Jeroen | - |
dc.contributor.author | CRAMER, Martijn | - |
dc.contributor.author | DEMEESTER, Eric | - |
dc.contributor.author | KELLENS, Karel | - |
dc.date.accessioned | 2022-05-10T09:21:11Z | - |
dc.date.available | 2022-05-10T09:21:11Z | - |
dc.date.issued | 2022 | - |
dc.date.submitted | 2022-05-03T15:11:01Z | - |
dc.identifier.citation | JOURNAL OF MAGNETISM AND MAGNETIC MATERIALS, 546 (Art N° 168637) | - |
dc.identifier.uri | http://hdl.handle.net/1942/37285 | - |
dc.description.abstract | Due to their peculiar property of controlled stiffness and strength under an external magnetic field, magnetorheological (MR) fluids show great potential in developing hybrid robotic grippers that in the future could offer the same versatility as the human hand. This demands for sufficiently strong, compact and switchable magnetic field sources for which permanent magnets are often overshadowed by electromagnets. However, permanent magnets possess higher magnetic flux densities per mass unit, and when assembled in certain ways, they allow to control their joint magnetic field. Within this paper, an extensive parameter study is conducted using grid search for the design of concentric Halbach cylinder assemblies based on finite element simulations. The influence of decisive geometric and material properties on the performance of these magnetic activation mechanisms is studied. These include the magnets' shapes, sizes and number; the cylinders' radii and number of pole pairs; and the relative permeabilities of the MR fluid and the grasped object. The performance of a design is measured by a multi-objective function that considers: the mean magnetic flux densities generated in the mechanism's ON and OFF-state, the magnetic field's inhomogeneity (i.e. standard deviation) in the ON-state, and the total magnet area for both cylinders. This work concludes by deriving guidelines for the most optimal design of concentric Halbach cylinders for a cylindrical radial bellow gripper. | - |
dc.description.sponsorship | Jeroen Cramer thanks KU Leuven, Diepenbeek Campus for granting a FLOF mandate therewith facilitating this research. Martijn Cramer is a SB Ph.D. fellow at FWO (Research Foundation Flanders), Belgium under grant agreement 1SA6919N. | - |
dc.language.iso | en | - |
dc.publisher | ELSEVIER | - |
dc.subject.other | Permanent magnet assemblies; Halbach cylinder; Magnetorheological fluid; | - |
dc.subject.other | Robotic grasping | - |
dc.title | Simulation-driven parameter study of concentric Halbach cylinders for magnetorheological robotic grasping | - |
dc.type | Journal Contribution | - |
dc.identifier.volume | 546 | - |
local.format.pages | 9 | - |
local.bibliographicCitation.jcat | A1 | - |
dc.description.notes | Cramer, J (corresponding author), Katholieke Univ Leuven, Res Unit ACRO, Dept Mech Engn, Diepenbeek Campus, B-3000 Leuven, Belgium. | - |
dc.description.notes | jeroen.cramer@kuleuven.be | - |
local.publisher.place | RADARWEG 29, 1043 NX AMSTERDAM, NETHERLANDS | - |
local.type.refereed | Refereed | - |
local.type.specified | Article | - |
local.bibliographicCitation.artnr | 168637 | - |
dc.identifier.doi | 10.1016/j.jmmm.2021.168637 | - |
dc.identifier.isi | WOS:000777253400008 | - |
local.provider.type | wosris | - |
local.description.affiliation | [Cramer, Jeroen; Cramer, Martijn; Demeester, Eric; Kellens, Karel] Katholieke Univ Leuven, Res Unit ACRO, Dept Mech Engn, Diepenbeek Campus, B-3000 Leuven, Belgium. | - |
local.description.affiliation | [Cramer, Jeroen; Kellens, Karel] Flanders Make KU Leuven, Core Lab ROB, B-3001 Heverlee, Belgium. | - |
local.uhasselt.international | no | - |
item.fullcitation | CRAMER, Jeroen; CRAMER, Martijn; DEMEESTER, Eric & KELLENS, Karel (2022) Simulation-driven parameter study of concentric Halbach cylinders for magnetorheological robotic grasping. In: JOURNAL OF MAGNETISM AND MAGNETIC MATERIALS, 546 (Art N° 168637). | - |
item.fulltext | With Fulltext | - |
item.contributor | CRAMER, Jeroen | - |
item.contributor | CRAMER, Martijn | - |
item.contributor | DEMEESTER, Eric | - |
item.contributor | KELLENS, Karel | - |
item.accessRights | Open Access | - |
crisitem.journal.issn | 0304-8853 | - |
crisitem.journal.eissn | 1873-4766 | - |
Appears in Collections: | Research publications |
Files in This Item:
File | Description | Size | Format | |
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1-s2.0-S0304885321008763-main.pdf Restricted Access | Published version | 2.71 MB | Adobe PDF | View/Open Request a copy |
Cramer et al. - Manuscript (2nd revision).pdf | Non Peer-reviewed author version | 5.65 MB | Adobe PDF | View/Open |
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