Modelling and characterisation of a novel two-finger variable reluctance gripper

K. K C Chan, Chow Norbert Cheung

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

2 Citations (Scopus)


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.
Original languageEnglish
Title of host publicationConference Proceedings - IEEE Applied Power Electronics Conference and Exposition - APEC
Number of pages5
Publication statusPublished - 1 Jan 2001
Event16th Annual IEEE Applied Power Electronics Conference and Exposition - Anaheim, CA, United States
Duration: 4 Mar 20018 Mar 2001


Conference16th Annual IEEE Applied Power Electronics Conference and Exposition
Country/TerritoryUnited States
CityAnaheim, CA

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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