Grasping of delicate objects by a novel two-finger variable reluctance gripper

A variable reluctance (VR) actuator has a simple and robust structure. The 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 it is difficult to operate as a proportional device. With the advancement of digital signal processing and power electronic drives in recent years, VR actuators have redrawn research interest. The paper describes the position and force control of a novel two-finger gripper using VR technology. Measurement and characterisation of the actuator is carried out. A novel motion and force control algorithm is implemented. The results show that the proposed actuator is suitable for high precision gripping applications.