Characteristics of controllable adhesion using magneto-rheological fluid and its application to climbing robotics

Abstract

In order to grasp and hold uneven or dusty objects, a robust adhesion mechanism is required. This paper evaluates controllable adhesion using magneto-rheological fluid (MRF) as a technique to stick to non-magnetic materials and rough/dusty surfaces. This technique is both simple to use and robust to uncertain surface conditions, as it involves applying MRF on a surface and activating it with a magnetic field. In this paper, we experimentally evaluate yield stresses in both normal and shear directions with respect to MRF layer thickness, magnetic flux density and surface type. Based on these results, a four-legged climbing robot is designed to demonstrate scaling vertical walls and shows effectiveness of the controllable adhesion using MRF for rough surface.