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Flexible grippers are a promising and pivotal technology for robotic grasping and manipulation tasks. Remarkably, magnetorheological (MR) materials, recognized as intelligent materials with exceptional performance, are extensively employed in flexible grippers. This review aims to provide an overview of flexible robotic grippers and highlight the application of MR materials within them, thereby fostering research and development in this field. This work begins by introducing various common types of flexible grippers, including shape memory alloys (SMAs), pneumatic flexible grippers, and dielectric elastomers, illustrating their distinctive characteristics and application domains. Additionally, it explores the development and prospects of magnetorheological materials, recognizing their significant contributions to the field. Subsequently, MR flexible grippers are categorized into three types: those with viscosity/stiffness variation capabilities, magnetic actuation systems, and adhesion mechanisms. Each category is comprehensively analyzed, specifying its unique features, advantages, and current cutting-edge applications. By undertaking an in-depth examination of diverse flexible robotic gripper types and the characteristics and application scenarios of MR materials, this paper offers a valuable reference for fellow researchers. As a result, it facilitates further advancements in this field and contributes to the provision of efficient gripping solutions for industrial automation. [ABSTRACT FROM AUTHOR]

This paper introduces an electromagnetic structure utilizing the controllable mechanical properties of magnetorheological elastomer (MRE) materials through magnetic flux. An adaptive elastic foundation composed of these materials is explored for vibration reduction and frequency modulation. This study investigates these effects using both a single-mass model and a coupled human–seat model. For objects supported by the adaptive elastic foundation, increasing the magnetic flux enhances the stiffness and damping, thereby significantly reducing the peak response while slightly increasing the resonance frequency. Strategies such as increasing the magnetic flux, reducing the object mass, and minimizing the system's degrees of freedom and internal damping contribute to enhancing the vibration reduction and frequency modulation in the adaptive elastic foundation. The simulation results indicate that for a seated human (weighing between 72.4 kg and 88.4 kg), the adaptive elastic foundation reduces the head peak response by approximately 15.7% and increases the resonance frequency by approximately 3.4% at a magnetic flux of 138 mT. [ABSTRACT FROM AUTHOR]

In this study, composite particles of rGO/CoFe2O4 were synthesized using a solvothermal method to fabricate a low-density magnetorheological (MR) material with enhanced sedimentation stability. The morphology and crystallographic features of rGO/CoFe2O4 were characterized via SEM, TEM, and XRD, and its magnetic properties were tested using VSM. The MR fluid was formulated by blending rGO/CoFe2O4 particles into silicone oil. Under different magnet strengths (H), a rotational rheometer was used to test its MR properties. Typical MR properties were observed, including shear stress, viscosity, storage/loss modulus, and dynamic yield stress ( τ d y ) following the Herschel–Bulkley model reaching 200 Pa when H is 342 kA/m. Furthermore, the yield stress of the MR fluid follows a power law relation as H increases and the index changes from 2.0 (in the low H region) to 1.5 (in the high H region). Finally, its MR efficiency was calculated to be about 104% at H of 342 kA/m. [ABSTRACT FROM AUTHOR]

Hybrid organic/inorganic conducting and magnetic composites of core–shell type have been prepared by in-situ coating of nickel microparticles with polypyrrole. Three series of syntheses have been made. In the first, pyrrole was oxidised with ammonium peroxydisulfate in water in the presence of various amounts of nickel and the composites contained up to 83 wt% of this metal. The second series used 0.1 M sulfuric acid as a reaction medium. Finally, the composites with polypyrrole nanotubes were prepared in water in the presence of structure-guiding methyl orange dye. The nanotubes have always been accompanied by the globular morphology. FTIR and Raman spectroscopies confirmed the formation of polypyrrole. The resistivity of composite powders of the order of tens to hundreds Ω cm was monitored as a function of pressure up to 10 MPa. The resistivity of composites slightly increased with increasing content of nickel. This apparent paradox is explained by the coating of nickel particles with polypyrrole, which prevents their contact and subsequent generation of metallic conducting pathways. Electrical properties were practically independent of the way of composite preparation or nickel content and were controlled by the polypyrrole phase. On the contrary, magnetic properties were determined exclusively by nickel content. The composites were used as a solid phase to prepare a magnetorheological fluid. The test showed better performance when compared with a different nickel system reported earlier. [ABSTRACT FROM AUTHOR]

Isotropic magnetorheological elastomers (MREs) with hybrid-size particles are proposed to tailor the zero-field elastic modulus and the relative magnetorheological rate. The hyperelastic magneto–mechanical property of MREs with hybrid-size CIPs (carbonyl iron particles) was experimentally investigated under large strain, which showed differential hyperelastic mechanical behavior with different hybrid-size ratios. Quasi-static magneto–mechanical compression tests corresponding to MREs with different hybrid size ratios and mass fractions were performed to analyze the effects of hybrid size ratio, magnetic flux density, and CIP mass fraction on the magneto–mechanical properties. An extended Knowles magneto–mechanical hyperelastic model based on magnetic energy, coupling the magnetic interaction, is proposed to predict the influence of mass fraction, hybrid size ratio, and magnetic flux density on the magneto–mechanical properties of isotropic MRE. Comparing the experimental and predicted results, the proposed model can accurately evaluate the quasi-static compressive magneto–mechanical properties, which show that the predicted mean square deviations of the magneto–mechanical constitutive curves for different mass fractions are all in the range of 0.9–1. The results demonstrate that the proposed hyperelastic magneto–mechanical model, evaluating the magneto–mechanical properties of isotropic MREs with hybrid-size CIPs, has a significant stress–strain relationship. The proposed model is important for the characterization of magneto–mechanical properties of MRE-based smart devices. [ABSTRACT FROM AUTHOR]

In order to investigate the influence of sepiolite minerals on the normal force of magnetorheological grease (MRG), a mixed sample (ALCH) on the basis of preparing an aluminum–lithium-based magnetorheological grease (base sample ALC), containing sepiolite was further prepared. The field-dependent normal force of the two samples was tested using a rotational rheometer, considering conditions such as magnetic field, time, strain amplitude, frequency, and temperature, and the results were compared. The results indicate that sepiolite limits the field dependent normal force of the magnetorheological grease under steady state shear, and is unaffected by magnetic field, time, temperature, and shear rate. Sepiolite has minimal impact on the transient response of the magnetorheological grease. Under oscillatory shear, the magnetic field is an important factor influencing the field-dependent normal force response of the sepiolite-magnetorheological grease (ALCH). At low magnetic fields, the field-dependent normal force of the sepiolite-containing sample (ALCH) is greater than that of the base sample (ALC), while this relationship is reversed at high magnetic fields, unaffected by other factors. Under long-term shear conditions, both samples exhibit good shear stability, as well as consistency at different frequencies and strain amplitudes. However, an increase in shear rate reduces the normal force, and temperature also affects the field-dependent normal force. The patterns of variation in steady-state and oscillatory shear modes are not entirely the same, but both exhibit a characteristic decrease with increasing temperature under high magnetic field intensities. Sepiolite can reduce the temperature sensitivity of the normal force of the magnetorheological grease. In conclusion, the introduction of sepiolite is beneficial for the application of magnetorheology in high-precision devices. [ABSTRACT FROM AUTHOR]

Shock loads can pose a great threat to personnel or instruments, and efficient control of the buffering process is an effective means of reducing damage from shock energy. In this paper, magneto-rheological grease was used as the internal controllable material of the buffer to address the turbulence and settling problems of conventional magneto-rheological fluid. A bending and folding back magnetic circuit is proposed, and the magnetic circuit simulation was verified. The corresponding dynamic mechanical model was established, and the mechanical response characteristics of the buffer under impact load were also simulated dynamically. The mechanical properties of the designed and processed device were tested, and a variable current control method was used to improve the performance of the shock resistance of the buffer. The response of the magnetorheological grease buffer under different drop hammer impacts was investigated. The buffering effect and controllability of the buffer were analyzed by comparing the acceleration, velocity, and top-end cap displacement at the same drop hammer height for different current magnitudes. The results show that the buffer performance of the buffer gradually improved as the current increased. The response time of the designed new magnetorheological buffer was determined by the jump time of the peak damping force to be 9 ms. Lastly, the controllability was verified by manually and automatically adjusting the current magnitude, and the results were compared with those at 300 mm drop hammer height and 0.5 A current magnitude, and the continuous variable current control was found to be effective. This provides a feasible reference for scholars to study optimal buffer control. [ABSTRACT FROM AUTHOR]

The purpose of this study is to provide a convenient optimization design method for magnetorheological torsional vibration absorbers (MR-TVA) suitable for automotive engines, which is a damper matching design method that takes into account the needs of the engine operating conditions. In this study, three kinds of MR-TVA with certain characteristics and applicability are proposed: axial single-coil configuration, axial multi-coil configuration and circumferential configuration. The magnetic circuit model, damping torque model and response time model of MR-TVA are established. Then, under the constraints of weight, size and inertia ratio, according to different torsional vibration conditions, the MR-TVA mass, damping torque and response time are multi-objective optimized in two directions. The optimal configurations of the three configurations are obtained from the intersection of the two optimal solutions, and the performance of the optimized MR-TVA is compared and analyzed. The results show that the axial multi-coil structure has large damping torque and the shortest response time (140 ms), which is suitable for complex working conditions. The damping torque of the axial single coil structure is generally large (207.05 N.m), which is suitable for heavy load conditions. The circumferential structure has a minimum mass (11.03 kg) and is suitable for light load conditions. [ABSTRACT FROM AUTHOR]

The compression tests under the unidirection for magnetorheological (MR) fluids have been studied at different compressive speeds. The results indicated that curves of compressive stress under different compression speeds at the applied magnetic field of 0.15 T overlapped well and were shown to be an exponent of about 1 of the initial gap distance in the elastic deformation region and accorded well with the description of continuous media theory. The difference in compressive stress curves increases significantly with an increasing magnetic field. At this time, the continuous media theory description could not be accounted for the effect of compressive speed on the compression of MR fluid, which seems to deviate from the Deborah number prediction under the lower compressive speeds. An explanation based on the two-phase flow due to aggregations of particle chains resulting in much longer relaxation times at a lower compressive speed was proposed to explain this deviation. The results have guiding significance for the theoretical design and process parameter optimization for the squeeze-assisted MR devices such as MR dampers and MR clutches based on the compressive resistance. [ABSTRACT FROM AUTHOR]

An optimization design of the bending-vibration resistance of magnetorheological elastomer carbon fibre reinforced polymer sandwich sheets (MECFRPSSs) was studied in this paper. Initially, by adopting the classical laminate theory, the Reddy's high-order shear deformation theory, the Rayleigh-Ritz method, etc., an analytical model of the MECFRPSSs was established to predict both bending and vibration parameters, with the three-point bending forces and a pulse load being considered separately. After the validation of the model was completed, the optimization design work of the MECFRPSSs was conducted based on an optimization model developed, in which the thickness, modulus, and density ratios of magnetorheological elastomer core to carbon fibre reinforced polymer were taken as design variables, and static bending stiffness, the averaged damping, and dynamic stiffness parameters were chosen as objective functions. Subsequently, an artificial bee colony algorithm was adopted to execute single-objective, dual-objective, and multi-objective optimizations to obtain the optimal design parameters of such structures, with the convergence effectiveness being examined in a validation example. It was found that it was hard to improve the bending, damping, and dynamic stiffness behaviours of the structure simultaneously as the values of design variables increased. Some compromised results of design parameters need to be determined, which are based on Pareto-optimal solutions. In further engineering application of the MECFRPSSs, it is suggested to use the corresponding design parameters related to a turning point to better exert their bending-vibration resistance. [ABSTRACT FROM AUTHOR]

A novel magnetic fluid was obtained using a colloidal dispersion of amorphous magnetic Fe-Ni-B nanoparticles into water. Its magnetorheological and viscoelastic behaviors were all investigated. Results showed that the generated particles were spherical amorphous particles 12–15 nm in diameter. The saturation magnetization of Fe-based amorphous magnetic particles could reach 49.3 emu/g. The amorphous magnetic fluid exhibited shear shinning behavior under magnetic fields and showed strong magnetic responsiveness. The yield stress increased with the rising magnetic field strength. A crossover phenomenon was observed from the modulus strain curves due to the phase transition under applied magnetic fields. The storage modulus G′ was higher than the loss modulus G″ at low strains, while G′ was lower than G″ at high strains. The crossover points shifted to higher strains with increasing magnetic field. Furthermore, G′ decreased and fell off in a power law relationship when the strain exceeded a critical value. However, G″ showed a distinct maximum at a critical strain, and then decreased in a power law fashion. The magnetorheological and viscoelastic behaviors were found to be related to the structural formation and destruction in the magnetic fluids, which is a joint effect of magnetic fields and shear flows. [ABSTRACT FROM AUTHOR]

Strain localization is a significant issue that poses interesting research challenges in viscoelastic materials because it is difficult to accurately predict the damage evolution behavior. Over time, the damage mechanism in the amorphous structure of viscoelastic materials leads to subsequent localization into a shear band, gradually jeopardizing the materials' elastic sustainability. The primary goal of this study is to further understand the morphological effects and the role of shear bands in viscoelastic materials precipitated by strain localization. The current study aims to consolidate the various failure mechanisms of a sample and its geometry (surface-to-volume ratio) used in torsional testing, as well as to understand their effects on stress relaxation durability performance. A torsional shear load stress relaxation durability test was performed within the elastic region on an isotropic viscoelastic sample made of silicon rubber and a 70% weight fraction of micron-sized carbonyl iron particles. Degradation was caused by a shear band of localized plasticity that developed microscopically due to stress relaxation durability. The failure pattern deteriorated as the surface-to-volume ratio decreased. A field-emission scanning electron microscope (FESEM) and a tapping-mode atomic force microscope (AFM) were used for further observation and investigation of the sample. After at least 7500 cycles of continuous shearing, the elastic sustainability of the viscoelastic materials microstructurally degraded, as indicated by a decline in stress performance over time. Factors influencing the formation of shear bands were observed in postmortem, which was affected by simple micromanipulation of the sample geometry, making it applicable for practical implementation to accommodate any desired performance and micromechanical design applications. [ABSTRACT FROM AUTHOR]

In this paper, the effect of temperature on rheological properties of magnetorheological (MR) gel is investigated under rotational steady shear and oscillatory dynamic shear. A kind of fluid-like MR gel (MRG) was firstly synthesized by mixing carbonyl iron powder (CIP) with polymer matrix. Then, the relationship between yield stress, normal stress of MRG and shear rate under six temperatures and four magnetic field strengths were studied by rotational shear experiments. The results demonstrate that the dependence of shear stress on temperature displays an opposite tendency in comparison with that of normal stress on temperature. Moreover, maximum yield stress, one of the most important parameter of MR materials, decreases with the increment of temperature. Under oscillatory dynamic shear test, storage and loss moduli and normal stress of MRG all increase with temperature when a magnetic field is applied, which presents a contrary trend in the absence of a magnetic field. Related mechanisms about the alternation of microstructures of MRG were proposed to explain the above-mentioned phenomena. This paper is helpful in fabricating semi-active engineering devices using MR materials as a medium. [ABSTRACT FROM AUTHOR]

The vibration and impact of a humanoid bipedal robot during movements such as walking, running and jumping may cause potential damage to the robot's mechanical joints and electrical systems. In this paper, a composite bidirectional vibration isolator based on magnetorheological elastomer (MRE) is designed for the cushioning and damping of a humanoid bipedal robot under foot contact forces. In addition, the vibration isolation performance of the vibration isolator was tested experimentally, and then, a vibration isolator dynamics model was developed. For the bipedal robot foot impact, based on the vibration isolator model, three vibration reduction control algorithms are simulated, and the results show that the vibration damping effect can reach 85%. Finally, the MRE vibration isolator hardware-in-the-loop-simulation experiment platform based on dSPACE has been built to verify the vibration reduction control effect of the fuzzy PID algorithm. The result shows the vibration amplitude attenuates significantly, and this verifies the effectiveness of the fuzzy PID damping control algorithm. [ABSTRACT FROM AUTHOR]

Filler additive is used to provide superior bonding in rubber matrix to enhance the storage modulus of magnetorheological elastomer (MRE). However, the magneto-induced modulus is reduced as the initial storage modulus increases. Therefore, this paper aims to increase the magneto-induced modulus and maintain the initial storage modulus by combining filler and plasticizer additives. Both types of additives have different functions, where cobalt ferrite (CoFe2O4) is capable of enhancing the maximum storage modulus and silicone oil (SO) reduces the initial storage modulus. Thus, four MRE samples have been fabricated using (a) no additive, (b) CoFe2O4, (c) SO, and (d) a combination of CoFe2O4 and SO. The sample's hardness and magnetic properties were investigated via Durometer Shore A and Vibrating Sample Magnetometer (VSM), respectively. Furthermore, the rheological properties of MRE samples in terms of storage modulus were investigated upon the frequency and magnetic field sweep using a rheometer. The results demonstrated that the storage modulus of the MRE samples has increased with increasing the oscillation frequency from 0.1 to 50 Hz. Interestingly, the combination of additives has produced the largest value of magneto-induced modulus of 0.90 MPa as compared to other samples. Furthermore, their initial storage modulus was in between samples with SO (lowest) and without additive (highest). Therefore, fundamental knowledge in adding the combination of additives can offer solutions for a wide range of stiffness in MR device applications such as vibration and noise control devices, sensing devices, and actuators. [ABSTRACT FROM AUTHOR]

Recently, magnetorheological grease (MRG) has been utilized in magnetorheological (MR) brakes to generate a braking torque based on the current applied. However, the high initial viscosity of MRG has increased the off-state torque that led to the viscous drag of the brake. Therefore, in this study, the off-state viscosity of MRG can be reduced by the introduction of dilution oil as an additive. Three samples consist of pure MRG (MRG 1) and MRG with different types of dilution oil; hydraulic (MRG 2) and kerosene (MRG 3) were prepared by mixing grease and spherical carbonyl iron particles (CIP) using a mechanical stirrer. The rheological properties in the rotational mode were examined using a rheometer and the torque performances in MR brake were evaluated by changing the current of 0 A, 0.4 A, 0.8 A, and 1.2 A with fixed angular speed. The result shows that MRG 3 has the lowest viscosity which is almost 93% reduction while the viscosity of MRG 2 has lowered to 25%. However, the torque performances generated by MRG 3 were highest, 1.44 Nm, when 1.2 A of current was applied and followed by MRG 2 and MRG 1. This phenomenon indicated that the improvement of torque performances was dependent on the viscosity of MRG. By reducing the viscosity of MRG, the restriction on CIP to form chain formation has also decreased and strengthen the torque of MRG brake. Consequently, the utilization of dilution oil in MRG could be considered in MR brake in near future. [ABSTRACT FROM AUTHOR]

Magnetorheological elastomers (MREs) are a class of emerging smart materials in which their mechanical and rheological properties can be immediately and reversibly altered upon the application of a magnetic field. The change in the MRE properties under the magnetic field is widely known as the magnetorheological (MR) effect. Despite their inherent viscoelastic property-change characteristics, there are disadvantages incorporated with MREs, such as slow response time and the suspension of the magnetic particles in the elastomer matrix, which depress their MR effect. This study investigates the feasibility of a hybrid magnetorheological elastomer-fluid (MRE-F) for longitudinal vibration isolation. The hybrid MRE-F is fabricated by encapsulating MR fluid inside the elastomer matrix. The inclusion of the MR fluid can enhance the MR effect of the elastomer by providing a better response to the magnetic field and, hence, can improve the vibration isolation capabilities. For this purpose, an MRE-based coupling is developed, and isolation performance is investigated in terms of the linear transmissibility factor. The performance of the hybrid MRE-F was compared against two different MRE samples. The results show that further enhancement of MR-effect in MREs is possible by including MR fluid inside the elastomer. The hybrid MRE-F exhibited better stiffness change with the current increase and recorded the highest value of 55.911   N / mm . The transmissivity curves revealed that the MRE-F contributed to a broader shift in the natural frequency with a 7.2   Hz overall shift at 8.9   mT . The damping characteristics are higher in MRE-F, recording the highest percentage increase in damping with 33.04 % . Overall, the results reveal the promising potential of hybrid MRE-F in developing MRE-based coupling for longitudinal vibration isolation. [ABSTRACT FROM AUTHOR]

Unidirectional compressive properties of magnetorheological (MR) fluids have been investigated under slow compression and constant area with different magnetic fields and different initial gap distances. Experimental tests of unidirectional compression were firstly carried out by using a commercial plate–plate rheometer. The theoretical model based on the continuous squeeze flow theory was developed to calculate the compressive stress. The comparisons between the measured and calculated compressive stresses of MR fluids were made. It showed that the compression resistance of the MR fluid in the magnetic field was much higher than that predicted by the theory. With the increasing magnetic flux density, the deviation between measured and calculated curves accelerated. Characteristics of the compressive stress variation with the reduction in gap distance have been analyzed. The structure strengthening effect induced by the chain structure aggregation in squeeze mode has been used to explain this deviation. [ABSTRACT FROM AUTHOR]

Magnetic/conducting polymeric hybrid core-shell typed zinc ferrite (ZnFe2O4)/poly(N-methyl aniline) (PMA) particles were fabricated and adopted as electrorheological (ER) and magnetorheological (MR) fluids, and their rheological properties were examined. Solvo-thermally synthesized ZnFe2O4 was coated with a conducting PMA through chemical oxidation polymerization. The size, shape, and chemical composition of the final core-shell shaped particles were scrutinized by scanning electron microscopy, transmission electron microscopy, and Fourier transform-infrared spectroscopy. The crystal faces of the particles before and after coating with PMA were analyzed by X-ray diffraction. The ZnFe2O4/PMA products were suspended in silicone oil to investigate the rheological response to electro- or magnetic stimuli using a rotating rheometer. The shear stresses were analyzed using the CCJ equation. The dynamic yield stress curve was suitable for the conductivity mechanism with a slope of 1.5. When magnetic fields of various intensities were applied, the flow curve was analyzed using the Hershel–Bulkley equation, and the yield stresses had a slope of 1.5. Optical microscopy further showed that the particles dispersed in insulating medium form chain structures under electric and magnetic fields. Via this core-shell fabrication process, not only spherical conducting particles were obtained but also their dual ER and MR responses were demonstrated for their wide potential applications. [ABSTRACT FROM AUTHOR]

Temperature is one of the most influential factors affecting the performance of elastomer matrix in magnetorheological elastomer (MRE). Previous studies have utilized silica as a reinforcing filler in polymer composite and as a coating material in MRE to improve the thermal stability of the base material. However, the usage of silica as an additive in the thermal stability of MRE has not been explored. Thus, in this study, the effect of silica as an additive on the temperature-dependent mechanical and rheological properties of ethylene propylene diene monomer (EPDM)-based MREs was investigated by using 30 wt.% carbonyl iron particles (CIPs) as the main filler, with different contents of silica nanoparticles (0 to 11 wt.%). The microstructure analysis was examined by using field-emission scanning electron microscopy (FESEM), while the thermal characterizations were studied by using a thermogravimetric analyzer and differential scanning calorimetry. The tensile properties were conducted by using Instron Universal Testing Machine in the absence of magnetic field at various temperatures. Meanwhile, the rheological properties were analyzed under oscillatory loadings in the influence of magnetic field, using a rotational rheometer at 25 to 65 °C. The results revealed that the temperature has diminished the interfacial interactions between filler and matrix, thus affecting the properties of MRE, where the tensile properties and MR effect decrease with increasing temperature. However, the presence of silica capable improved the thermal stability of EPDM-based MRE by enhancing the interactions between filler and matrix, thus reducing the interfacial defects when under the influence of temperature. Consequently, the incorporation of silica nanoparticles as an additive in EPDM-based MRE requires more exploration, since it has the potential to sustain the properties of MRE devices in a variety of temperature conditions. Thus, the study on the temperature-dependent mechanical and rheological properties of MRE is necessary, particularly regarding its practical applications. [ABSTRACT FROM AUTHOR]

A tubular composite structure that is built of two materials, characterized by different Young moduli, is analysed in this paper. The Young's modulus of one of these materials can be controlled by external conditions e.g., magnetic or electric field, temperature etc. The geometry of the reinforcement is based on typical auxetic re-entrant honeycomb cellular structure. The influence of this external factor on the behaviour of the stretched tube is analysed in this paper. Also, the possibility of creating a tubular composite structure whose cross-section is either shrinking or expanding, while stretching the tube is presented. [ABSTRACT FROM AUTHOR]

This study demonstrates the formation of biocompatible magnetic particles into organized structures upon the application of an external magnetic field. The capability to create the structures was examined in silicone-oil suspensions and in a gelatine solution, which is commonly used as a blood plasma expander. Firstly, the carbonyl iron particles were successfully coated with gelatine, mixed with a liquid medium in order to form a magnetorheological suspension, and subsequently the possibility of controlling their rheological parameters via a magnetic field was observed using a rotational rheometer with an external magnetic cell. Scanning electron microscopy, infrared spectroscopy, and thermogravimetric analysis confirmed the successful coating process. The prepared magnetorheological suspensions exhibited a transition from pseudoplastic to Bingham behavior, which confirms their capability to create chain-like structures upon application of a magnetic field, which thus prevents the liquid medium from flowing. The observed dynamic yield stresses were calculated using Robertson–Stiff model, which fit the flow curves of the prepared magnetorheological suspensions well. [ABSTRACT FROM AUTHOR]

The paper describes the modeling process of the magnetomechanical properties of magnetorheological elastomers. Unlike the primary sources in which a viscoelastic model is commonly used, in this work, the elastic–plastic model with linear hardening was adopted. Its parameters were determined from data obtained in an experiment. Measurement data encompassed a range of various strain rates and amplitudes, as well as a range of magnetic field values. Model parameters as a function of a magnetic field were obtained as a result of identification. The correctness of data correlation was shown by comparing hysteresis loops τ (γ) . Satisfactory consistency between experimental and model research was achieved on the assumption that the model was applied only to higher strain rates, above the boundary value γ ˙ A = 0.025 (1 / s) . [ABSTRACT FROM AUTHOR]

Considering persistent years, many researchers continuously seek an optimum way to utilize the idea of magnetorheology (MR) materials to be practically used for everyday life, particularly concerning resistivity sensing application. The rheology and resistivity of a graphite (Gr)-based magnetorheological elastomer (Gr-MRE) were experimentally evaluated in the present research. Magnetorheological elastomer (MRE) samples were prepared by adding Gr as a new additive during MRE fabrication. The effect of additional Gr on the rheological and resistivity properties were investigated and compared with those of typical MREs without a Gr additive. Morphological aspects of Gr-MRE were characterized using field emission scanning electron microscopy (FESEM) and energy dispersive X-ray spectroscopy (EDX). Rheological properties under different magnetic fields were evaluated using a parallel-plate rheometer. Subsequently, the resistivity of all samples was measured under different applied forces and magnetic fields. From the resistivity evaluation, two relationship curves resistance (R) under different applied forces (F) and different magnetic fields (B) were established and plotted by using an empirical model. It was observed from the FESEM images that the presence of Gr fractions arrangement contributes to the conductivity of MRE. It was also observed that, with the addition of Gr, rheological properties such as the field-dependent modulus can be improved, particularly at low strain amplitudes. It is also demonstrated that the addition of Gr in MRE can contribute to the likely use of force detection in tactile sensing devices. [ABSTRACT FROM AUTHOR]

In this work, the material characterization of hardening magneto-rheological (MR) sponge is analyzed and a robot-assisted surgery system integrated with a 6-degrees-of-freedom (DOF) haptic master and slave root is constructed. As a first step, the viscoelastic property of MR sponge is experimentally analyzed. Based on the viscoelastic property and controllability, a MR sponge which can mimic the several reaction force characteristics of human-like organs is devised and manufactured. Secondly, a slave robot corresponding to the degree of the haptic master is manufactured and integrated with the master. In order to manipulate the robot motion by the master, the kinematic analysis of the master and slave robots is performed. Subsequently, a simple robot cutting surgery system which is manipulated by the haptic master and MR sponge is established. It is then demonstrated from this system that using both MR devices can provide more accurate cutting surgery than the case using the haptic master only. [ABSTRACT FROM AUTHOR]