Abstract
For maintenance microrobots for small diameter pipes in power plants and so on, we proposed and developed a novel microgripper using valve division type flexible electro-rheological valves (FERVs). Each bendable arm consists of the FERV and a rubber chamber with several millimeters long. The FERV has plural short length ER valves in a rubber channel. Each ER valve controls the electro-rheological fluid (ERF) flow by changing the viscosity with the electric field. The FERV has high flexibility with sufficient pressure control range. The rubber chamber has plural walls inside to restrict the radial expansion and axially extends by the inner pressure controlled with the FERV. Arm large models and a gripper were fabricated and characterized.
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