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Title: Modelling and characterisation of a novel two-finger variable reluctance gripper
Authors: Chan, KKC
Cheung, NC 
Issue Date: 2001
Publisher: IEEE
Source: Conference Proceedings - IEEE Applied Power Electronics Conference and Exposition - APEC, 2001, v. 2, p. 1116-1120 How to cite?
Abstract: Variable reluctance (VR) actuator has a simple and robust structure. VR actuator does not have a permanent magnet. It is low-cost; easy-to-manufacture, highly reliable, and can operate in hostile temperatures. However, it is inherently nonlinear, and is difficult to control and operate as a proportional device. With the advancement of digital signal processing and power electronic drives in recent years, VR actuators have redrawn research interests. The paper describes the investigation and development of a novel two-finger gripper using VR technology. A novel two-finger VR gripper is proposed and fabricated. Measurement and characterization of the actuator is carried out and a mathematical model of the actuator is constructed. Finally, model is simulated and it is verified with experimental results. The actuator exhibits pseudo-linear properties and it is suitable for position and force control applications. The results show that the proposed actuator is an ideal replacement for the higher-cost and less-robust permanent magnet actuators.
Description: 16th Annual IEEE Applied Power Electronics Conference and Exposition, Anaheim, CA, 4-8 March 2001
Appears in Collections:Conference Paper

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