Design and Optimization of Electromagnetically Driven End-Effector

The excellent flexibility and plasticity of a flexible robotic hand enable it to grip objects of various shapes and sizes. Currently, most of the flexible robotic hand fingers on the market use pneumatic drives. However, the unstable power of the pneumatic drive can cause the object gripped by the finger to slip. Additionally, the pneumatic pump can create noise pollution. To address these issues, a flexible end-effector is designed using an electromagnetic coil as the power source. The electromagnetic-driven end-effector has high precision and fast response, without the need for external devices. It only requires controlling the current to control the magnetic force of the electromagnet, thereby controlling the degree of end-effector bending. The finite element simulation is used to analyze the impact of the structural parameters of the end-effector on bending degree. And the optimal basic parameters of the end-effector are determined. Under the same intensity of the current, when the bottom layer thickness is 5 mm, end-effector knuckle spacing is 4 mm, the maximum angle of end-effector bending is reached.