In recent years, many universal grippers have been proposed for the purpose of gripping various shaped objects. We research about the gripper using reformed magnetorheological fluid (MR fluid) that does not suffer from surrounding environments and is driven quickly. We proposed universal parallel gripper using MR fluid and confirmed that this parallel gripper can grip fragile objects and can transport quickly without falling objects before. However, this parallel gripper is not good to gripping small object. Thus, in this study, we developed novel parallel gripper for grasping small object by reconsidering magnetic circuit and elastic membrane. 　　　　　　　　　　　　　　　　　　　　

Gripping various shaped objects

This gripper can grip a potato covered with a mud, a fragile object and an object sinked under water, at the same gripping force conditions. In addition, the gripper can keep the direction of object during gripping.