Magnetoelectric coupling space adaptive composite gripper and method

Abstract

The application discloses a magnetic-electric coupling space self-adaptive composite gripper and method, relates to the technical field of space robot end effectors, and adopts a magnetic-dielectric dual-response particle with a three-layer core-shell structure of a magnetic core, an insulation buffer layer and a high-dielectric shell, realizes material-level intrinsic bidirectional positive coupling of magnetic particle blocking and electrostatic adsorption, and realizes co-curing design of an embedded island electrode array and a gradient dielectric surface layer; a mutual embedding type coupling partition plate simultaneously integrates magnetic circuit focusing, electric field shielding, in-situ sensing and thermal matching functions; in cooperation with a three-order dynamic cooperative control algorithm and a redundant fault-tolerant mechanism, high-reliability self-adaptive grabbing in a space extreme environment is realized. The application retains pure electrostatic adsorption, pure magnetic driving blocking and three working modes of synergistic enhancement, has no pneumatic pipeline, has rapid response and high environmental adaptability.

Description

Technical Field

[0001] This invention relates to the field of end effector technology for space robots, specifically to a magnetoelectric coupled space adaptive composite gripper and method. Background Technology

[0002] With the rapid development of aerospace technology, on-orbit operations are becoming increasingly common, including on-orbit servicing, space debris removal, repair of failed satellites, and external inspection and maintenance of the space station. These missions require end effectors to be able to quickly and reliably adaptively grasp and hold target objects of different shapes, materials, and sizes, while also requiring simple structure, light weight, high reliability, and strong environmental adaptability.

[0003] Traditional robotic arms typically employ rigid gripper structures at their end effectors, using motors to drive the fingers to open and close for gripping. While rigid grippers are simple and offer strong gripping force, they are poorly adaptable to the shape of the target object, only able to grip regularly shaped objects. Stress concentration at contact points can easily damage precision components, and they require sophisticated transmission mechanisms. Furthermore, transmission gaps and thermal deformation in the alternating high and low temperature environments of space can severely impact gripping accuracy and reliability.

[0004] In recent years, particle-blocking flexible grippers have been extensively studied. They achieve variable stiffness switching by evacuating the vacuum to transform particles from a loose state to a dense blockage state, enabling them to adaptively encapsulate irregularly shaped objects. However, this approach relies on a vacuum system, requiring air pumps, pipelines, and valves. In the high vacuum environment of space, it faces challenges such as sealing difficulties, complex piping, and slow response speed. The reliability of the vacuum source directly affects the working life of the gripper, making it unsuitable for long-term on-orbit applications.

[0005] Magnetorheological elastomers and magnetorheological fluids utilize magnetic fields to control particle alignment and achieve variable stiffness, offering advantages such as fast response and the absence of moving mechanical parts. However, existing magnetorheological devices are mostly damper or brake structures, not yet effectively integrated with flexible grippers, and suffer from problems such as low magnetic field utilization and limited stiffness variation range.

[0006] Electrostatic adsorption technology utilizes high-voltage electrodes to induce polarized charges on the surface of a workpiece, generating electrostatic force to achieve traceless adsorption of planar objects. It has advantages such as simple structure, no moving parts, fast response, and low power consumption. However, electrostatic adsorption has poor adhesion to non-planar and irregularly shaped objects, and the adsorption force is greatly affected by surface roughness and material. It is difficult to meet the grasping needs of complex spatial targets when used alone. Furthermore, when a flexible gripper wraps around an irregular curved surface, the stretching deformation of the electrodes will cause electric field distortion and increase the contact gap, resulting in a decrease of more than 60% in the electrostatic adsorption force under curved surfaces. At the same time, there is a risk of high-voltage discharge in the high vacuum environment of space.

[0007] Existing composite solutions combining magnetic particle blocking and electrostatic adsorption are essentially functional combinations of two technologies. They achieve independent operation of the two grasping modes only through structural superposition, failing to break through the technical framework of "two systems, simple combination." Their deeper shortcomings are: First, the physical mechanisms are fragmented; magnetorheological particles only perform the function of varying stiffness, and electrostatic adsorption only performs the function of surface adhesion, without any physical-level mutual reinforcement, thus failing to achieve a performance leap. Second, they lack intrinsic material and structural optimization for the extreme space environment, making them prone to failures such as particle sedimentation and agglomeration, high-voltage discharge breakdown, thin-film aging and cracking, and severe performance temperature drift during long-term on-orbit service. Third, there is an inherent contradiction between flexible deformation and electrostatic performance, with significant attenuation of adsorption force under large curvature surfaces. Fourth, they rely primarily on open-loop control, unable to dynamically adjust parameters according to environment and state, resulting in insufficient fault tolerance and difficulty meeting the high reliability requirements of aerospace applications.

[0008] Therefore, there is an urgent need for a magnetoelectric coupling space adaptive gripper that achieves deep integration from multiple dimensions such as material intrinsics, structural integration, control strategies, and environmental adaptation, breaking through the conventional technical approach of functional superposition, and fundamentally improving the gripping performance and service reliability of space end effectors. Summary of the Invention

[0009] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a magnetoelectric coupled space adaptive composite gripper and method. It innovates from four dimensions: material-level intrinsic coupling, integrated structural design, multi-field closed-loop control, and space environment-specific hardening. It achieves a deep integration of the principles of magnetic drive particle blockage and electrostatic adsorption, and has high adaptability, high reliability and long on-orbit life. It solves the problems of functional superposition, insufficient adaptability to space environment, poor electrostatic performance of curved surfaces and low control fault tolerance of existing composite solutions.

[0010] To solve the above problems, the technical solution provided by the present invention is as follows:

[0011] A magnetoelectric coupled spatial adaptive composite gripper includes a magnetic circuit focusing drive device, a magneto-electric intercalation coupling partition, a dual-response flexible gripper cavity, a gradient impedance embedded electrostatic adsorption layer, and a multi-field cooperative self-compensation control unit. The magnetic circuit focusing drive device includes a sealed outer shell, a segmented magnetic core, and dual redundant excitation coils. The magneto-electric intercalation coupling partition is disposed between the magnetic circuit focusing drive device and the dual-response flexible gripper cavity, employing a composite structure with a non-magnetic substrate, a magnetic pillar array, an electromagnetic shielding mesh, and in-situ sensing units intercalated. The dual-response flexible gripper cavity includes a flexible substrate membrane and a sealed filling within the membrane cavity. A magnetic-dielectric dual-response particle system is described. This system comprises dual-response core-shell particles, a nano-reinforcing phase, and a space-grade low-volatility base liquid. The dual-response core-shell particles have a three-layer core-shell structure: a magnetic core, an insulating buffer layer, and a high-dielectric shell. A gradient impedance embedded electrostatic adsorption layer is embedded within a flexible substrate film and co-cured, comprising an embedded island electrode array and a gradient dielectric surface layer. A multi-field cooperative self-compensation control unit is electrically connected to a dual-redundant excitation coil, the embedded island electrode array, and an in-situ sensing unit, respectively, to achieve third-order dynamic cooperative grasping and fault-tolerant control.

[0012] ① The magnetic circuit focusing drive device, acting as the magnetic field source, generates a directional magnetic field of controllable intensity through a segmented iron core and dual redundant coils, providing power input for particle blockage and variable stiffness. The dual redundancy design ensures uninterrupted function even in the event of a single winding failure. ② The magnetic-electric intercalation coupling partition, as an intermediate functional integrator, achieves directional focusing and transmission of the magnetic field and improves magnetic utilization through its magnetic permeability structure. Simultaneously, it blocks high-voltage electrostatic upward interference to the drive circuit through its electromagnetic shielding structure. It also integrates in-situ sensors to collect field parameters, combining physical isolation, magnetic circuit optimization, electric field shielding, and state perception functions. ③ The dual-response flexible gripper cavity is the main body for grasping execution. The flexible membrane cavity provides... The internal magnetic-dielectric dual-response particle system provides the basis for deformation and simultaneously undertakes the dual functions of magnetostrictive stiffness and dielectric-enhanced electrostatic adsorption. It achieves reversible switching between loose and blocked states through magnetic field control. The gradient impedance embedded electrostatic adsorption layer is the carrier of electrostatic adsorption function. It adopts an embedded co-curing structure to avoid delamination. Through island design and gradient dielectric distribution, it adapts to the electric field stability under large deformation and provides electrostatic adsorption force for the target. The multi-field collaborative self-compensation control unit is the core of the control. It dynamically adjusts the magnetic field and electrostatic field parameters by collecting sensor feedback signals to achieve collaborative grasping, environmental compensation and fault tolerance, upgrading the traditional open-loop control to closed-loop adaptive control.

[0013] Optionally, the dual-response core-shell particles have a single particle size of 8μm to 40μm; the magnetic core is carbonyl iron powder with high saturation magnetization and a particle size of 5μm to 30μm; the insulating buffer layer is a silicon dioxide layer with a thickness of 100nm to 300nm, which is coated on the surface of the magnetic core by chemical deposition; the high dielectric shell is a barium titanate nanocrystalline layer with a thickness of 200nm to 500nm and a relative permittivity ≥1500, which is grown on the outside of the insulating buffer layer by hydrothermal method.

[0014] ① The magnetic core uses carbonyl iron powder as the main component for magnetic response. Under the action of an external magnetic field, it aligns along the magnetic field lines to form a chain / column structure. The increased interparticle interaction forces enable the system to transition from a fluid state to a blocked state, thereby improving the gripper stiffness. The particle size range of 5μm to 30μm balances magnetic response sensitivity and particle packing density. ② The insulating buffer layer is a silica coating layer. On the one hand, it blocks the conductive pathways between the magnetic cores, suppressing the accumulation of surface charge and conductive agglomeration of particles caused by strong space irradiation, thus preventing particle clumping failure. On the other hand, it alleviates the thermal expansion mismatch between the magnetic core and the high-dielectric shell, improving the stability of the particle structure under high and low temperature cycling. The thickness of 100nm to 300nm balances insulation effect and magnetic coupling efficiency. ③ The high-dielectric outer shell is a barium titanate nanocrystalline layer with a relative permittivity ≥1500. As the main body for dielectric enhancement, when a high voltage is applied to the outer electrostatic electrode, the high-dielectric particles are equivalent to forming a "dielectric polarization enhancement layer" on the back of the electrostatic field, which can significantly increase the induced polarization charge density on the surface of the target object and enhance the electrostatic adsorption force from the intrinsic material level. The thickness of 200nm to 500nm can achieve a balance between dielectric enhancement effect and particle magnetic response performance. The three-layer core-shell structure integrates the two functions into a single particle, realizing the intrinsic material-level coupling of magnetism and dielectricity, rather than a simple physical mixture.

[0015] Optionally, the nano-reinforcing phase is surface-hydroxylated modified fumed silica nanoparticles with a particle size of 15nm–30nm and a mass accounting for 3%–6% of the total particle mass; the space-grade low-volatility base liquid is a mixture of methylphenyl silicone oil and polyα-olefin synthetic oil, with a viscosity of 80mPa・s–200mPa・s at 25°C and a saturated vapor pressure ≤5×10⁻⁻⁻⁴. 7 Pa, with 0.5% to 1% radiation stabilizer added to the base solution; the mass ratio of dual-response core-shell particles to nano-reinforcing phase is 92:8 to 95:5, the volume of the base solution accounts for 25% to 35% of the total volume of the particles, and the volume filling rate of the particle system is 70% to 85% of the membrane cavity volume.

[0016] ① The nano-reinforcing phase uses hydroxylated modified fumed silica nanoparticles. Firstly, these fill the gaps between micron-sized core-shell particles, increasing density and shear strength after particle blockage and enhancing clamping stiffness. Secondly, they form a thixotropic network in the base fluid, inhibiting particle sedimentation and stratification under long-term on-orbit weightlessness, ensuring system homogeneity. Thirdly, they regulate the rheological properties of the base fluid, significantly reducing viscosity fluctuations within the -80℃ to +100℃ range, minimizing performance drift at high and low temperatures. A mass percentage of 3% to 6% balances reinforcement effectiveness and system flowability. ② The space-grade low-volatility base fluid uses a mixture of methylphenyl silicone oil and poly-α-olefin. Its extremely low saturated vapor pressure adapts to the high vacuum environment of space, preventing base fluid evaporation from contaminating optical devices or causing sealing failure. A high thermal decomposition temperature ensures chemical stability over a wide temperature range. Added radiation stabilizers resist high-energy particle radiation in space, preventing performance degradation caused by base fluid degradation and cross-linking. A viscosity of 80 mPa·s to 200 mPa·s balances particle dispersibility and magnetic response speed. ③ A mass ratio of 92:8 to 95:5 between core-shell particles and nano-reinforcing phase, a volume ratio of 25% to 35% of the base liquid, and a volume filling rate of 70% to 85% are the proportions that achieve the optimal balance between blocking stiffness, deformation capability, and dielectric enhancement effect. This ensures that the particles have enough flow space to achieve adaptive deformation, and that they have enough density after blocking to provide high clamping force.

[0017] Optionally, the flexible substrate membrane is made of aerospace-grade addition-cured liquid silicone rubber with a wall thickness of 0.4 mm to 2 mm, a Shore hardness of 25 A to 40 A, and an elongation at break of ≥450%. Three sets of fiber Bragg grating strain sensors distributed along the meridian are embedded in the flexible substrate membrane for real-time monitoring of membrane surface deformation and contact stress distribution.

[0018] ① The flexible substrate membrane uses aerospace-grade addition-cured liquid silicone rubber as the sealing cavity of the gripper and the load-bearing base of the electrostatic layer, while also providing an elastic foundation for adaptive deformation. With a wall thickness of 0.4mm to 2mm, a Shore hardness of 25A to 40A, and an elongation at break of ≥450%, the membrane cavity can fully deform to wrap around irregularly shaped surfaces when adhering to the target, and provide sufficient structural support after blockage, while also withstanding repeated deformation and aging in the space environment. ② Three sets of pre-embedded fiber Bragg grating strain sensors distributed along the meridians monitor the degree of deformation and contact stress distribution at different positions on the membrane surface in real time by observing the wavelength shift of the grating with strain. This provides a quantitative basis for judging the degree of adhesion for closed-loop control, allowing for autonomous determination of the adhesion state without external visual sensing, thus improving the autonomy and reliability of non-cooperative target grasping.

[0019] Optionally, the embedded island electrode array includes 12 independent fan-shaped electrode islands, distributed in a grid pattern along the circumferential and radial directions of the sphere; each electrode island is provided with interdigitated comb-tooth electrodes, which are prepared by magnetron sputtering of copper-nickel alloy, with a line width of 0.2mm to 0.6mm and a line spacing of 0.4mm to 1.2mm; adjacent electrode islands are connected by stretchable interconnecting wires with a serpentine folding structure, with a wire width of 0.1mm and a stretching rate of ≥350%; each electrode island is equipped with an independent high-voltage drive channel and overcurrent and overvoltage protection circuits.

[0020] ① The overall electrode is divided into 12 independent fan-shaped electrode islands distributed in a grid pattern. The purpose is to break down the large-size continuous electrode into multiple small-size units. When the gripper wraps around a large-curvature surface, the deformation of each electrode island is much smaller than that of the overall electrode, significantly reducing the changes in linewidth and line spacing caused by electrode stretching, thereby reducing electric field distortion. ② Each electrode island adopts an interdigitated comb-tooth electrode structure. The electric field between adjacent electrodes induces polarization charges on the target surface, providing electrostatic adsorption force. The copper-nickel alloy magnetron sputtering process ensures the bonding force between the electrode and the silicone rubber substrate, preventing deformation and detachment. The parameters of 0.2mm to 0.6mm linewidth and 0.4mm to 1.2mm line spacing balance the electric field strength and the feasibility of the fabrication process. ③ The serpentine folded stretchable interconnecting wires between adjacent electrode islands absorb tensile deformation through redundant folding structures, ensuring that the wires do not break during large deformations of the gripper. The ≥350% elongation matches the gripper's ultimate deformation capability. ④ Each electrode island is equipped with an independent drive channel and protection circuit, which can independently adjust the adsorption force of different areas to achieve optimal adhesion, and can also cut off individually when a single electrode island breaks down and leaks current, avoiding overall failure and providing a hardware foundation for fault tolerance.

[0021] Optionally, the gradient dielectric surface layer adopts a gradient dielectric constant design: the area directly above the electrode island is made of high dielectric silicone rubber with a dielectric constant of 8 to 10, and the gap area between the electrode islands is made of low dielectric silicone rubber with a dielectric constant of 3 to 4; the outermost surface of the claw is provided with a 100 nm thick alumina ceramic antigen oxygen protection layer, which is prepared by atomic layer deposition process.

[0022] ① The gradient dielectric surface layer adopts a partitioned dielectric constant design. The high-dielectric silicone rubber (dielectric constant 8-10) directly above the electrode islands reduces electric field penetration loss, enhances the transmission of local electric field to the target surface, and improves effective adsorption force. The low-dielectric silicone rubber (dielectric constant 3-4) in the gap region between the electrode islands suppresses edge electric field distortion and surface discharge, avoiding high-voltage breakdown in a vacuum environment. This gradient design improves the uniformity of electrostatic adsorption force in curved surfaces by 40% and the breakdown voltage by 30%, solving the industry pain point of uneven electric field distribution under flexible deformation. ② The outermost 100nm thick alumina ceramic anti-atomic oxygen protective layer is prepared using atomic layer deposition technology to form a dense, pinhole-free ceramic film. It can effectively block the oxidation and erosion of the silicone rubber substrate by space atomic oxygen, reducing the erosion rate by an order of magnitude. At the same time, it also has insulation properties, avoids surface charge leakage, and significantly improves the on-orbit service life of the gripper.

[0023] Optionally, the overall thickness of the magnetic-electric intercalation coupling partition is 0.9mm to 1.6mm; the non-magnetic substrate is a thin TC4 titanium alloy plate; the magnetic pillar array consists of 6 to 8 high-permeability permalloy cylinders embedded in a ring array in the central region of the substrate, with a cylinder diameter of 2mm to 5mm and the upper and lower end faces flush with the surface of the partition; the electromagnetic shielding mesh is a grounded copper mesh shielding layer embedded inside the substrate, with a mesh aperture smaller than the spacing between the magnetic pillars; the in-situ sensing unit includes two miniature Hall magnetic field sensors and one Pt100 temperature sensor integrated on the lower surface of the partition.

[0024] ① The TC4 non-magnetic titanium alloy substrate serves as the main structural support, combining high strength, low magnetic permeability, and excellent adaptability to the spatial environment. Its coefficient of thermal expansion matches that of the aluminum alloy shell and silicone rubber film on both sides, reducing interfacial thermal stress under alternating high and low temperatures and preventing seal failure. The overall thickness of 0.9mm to 1.6mm balances structural strength and magnetic field penetration efficiency. ② Six to eight permalloy magnetic posts in a ring array form a directional magnetic path, concentrating the magnetic field generated by the iron core to the central working area of ​​the gripper, reducing edge leakage magnetic field, and increasing the magnetic induction intensity of the particle working area by more than 28%. At the same time, it avoids large-area diffusion of the magnetic field from interfering with the electrostatic electrode. The cylindrical diameter of 2mm to 5mm and the array distribution achieve a balance between magnetic field focusing effect and structural space. ③ The grounded copper mesh shielding layer uses the Faraday cage principle to block the upward coupling of the electrostatic high voltage field, preventing high voltage interference with the excitation coil and drive circuit. The shielding effectiveness of ≥45dB ensures the reliability of the drive electronic devices. The design of the mesh aperture being smaller than the spacing between the magnetic posts ensures the shielding effect without affecting the directional magnetic guidance of the magnetic posts. ④ The integrated miniature Hall magnetic field sensor and Pt100 temperature sensor collect the actual magnetic field strength and working temperature at the root of the claw in situ, providing accurate field feedback data for closed-loop control. No additional mounting bracket is required, achieving a high degree of structural integration.

[0025] Optionally, the sealed outer shell is a cylindrical sealed cavity made of 5A06 aluminum alloy, meeting aerospace-grade vacuum sealing requirements, with a standard robotic arm mounting flange at the top and an integrated electrical connector on the side; the segmented magnetic core is made of electrical pure iron DT4C, divided into an upper section of magnetic guide pillars and a lower section of tapered pole shoes, with the tapered pole shoes corresponding to the magnetic guide pillar array; the dual redundant excitation coil consists of two sets of parallel-wound aerospace-grade radiation-resistant enameled copper wire windings, each with 700 to 1300 turns and a rated operating current of 1A to 12A, and the entire coil is potted with high-temperature resistant epoxy resin.

[0026] ① The cylindrical, sealed outer shell, made of 5A06 aluminum alloy, is lightweight, high-strength, and corrosion-resistant, meeting aerospace-grade vacuum sealing requirements and protecting the internal coils and core from space environment corrosion. The standard mounting flange at the top allows for quick docking with the robotic arm, while the integrated electrical connector on the side can simultaneously lead out multiple types of cables, reducing the number of interfaces and sealing points and improving sealing reliability in space environments. ② The segmented magnetic core uses electrical pure iron DT4C, consisting of an upper magnetic guide post and a lower tapered pole shoe. The tapered pole shoe and the magnetic guide post array of the partition plate correspond in position, efficiently coupling the magnetic field generated by the coil into the magnetic guide post, reducing magnetic resistance and leakage flux, and further improving magnetic utilization. Compared to a uniform diameter iron core, the magnetic coupling efficiency is significantly improved. ③ The dual-redundant excitation coil uses two independent sets of aerospace-grade radiation-resistant enameled copper wire windings wound in parallel, with 700 to 1300 turns and a working current range of 1A to 12A, providing a wide range of magnetic field strength adjustment and enabling continuous adjustment of gripper stiffness; the two sets of windings serve as hot backups for each other, and in the event of a failure in one set, the other set can automatically increase the current to compensate for the magnetic field strength, ensuring that the drive function does not fail; high-temperature epoxy resin potting can improve the coil's vibration resistance, radiation resistance, and insulation performance, adapting to extreme space environments.

[0027] Optionally, the dual-response flexible gripper cavity is fixed below the magnetic-electric interlocking coupling partition by a pressure ring and a flange support. The pressure ring presses the opening edge of the flexible substrate membrane between the flange support and the partition to achieve sealing and fixation. The excitation power supply line of the magnetic circuit focusing drive device, the high voltage line of the gradient impedance embedded electrostatic adsorption layer, and the signal line of the in-situ sensing unit are combined into an integrated cable and led out from the electrical connector on the side of the sealed shell.

[0028] ① A compression sealing structure using a pressure ring and flange support is adopted, pressing the edge of the flexible substrate membrane opening between the flange support and the partition plate. Radial compression sealing is achieved through bolt tightening. This structure ensures that the membrane cavity does not leak during particle blockage deformation and internal pressure changes, while also facilitating the disassembly and replacement of the gripper cavity. ② The excitation power supply line, electrostatic high-voltage line, and sensor signal line are combined into an integrated cable led out from the same electrical connector, simplifying external wiring, reducing the number of interfaces at the space robotic arm end, and lowering the complexity of cable management and space occupation. At the same time, the aerospace-grade integrated cable ensures electrical insulation and signal transmission reliability in high vacuum and high radiation environments.

[0029] An adaptive grasping method for the aforementioned magnetoelectric coupled spatial adaptive composite gripper includes a third-order dynamic cooperative control step:

[0030] Compliant pre-bonding stage: A weak current of 0.3 to 0.8 A is passed through the dual redundant excitation coil to maintain the low stiffness of the gripper. At the same time, a low voltage electric field of 20% to 30% of the rated voltage is applied by the embedded island electrode array. The weak adsorption force is strengthened by the dielectric enhancement effect of the dual-response core-shell particles, which guides the gripper film surface to adaptively bond to the target morphology. The degree of bonding is determined in real time by the fiber Bragg grating strain sensor.

[0031] Progressive locking and strengthening stage: When the fit reaches the set threshold, the electrostatic voltage and the excitation current increase synchronously and linearly; the magnetic-dielectric dual-response particles are gradually blocked and solidified, and the high dielectric shell is oriented with the particle chain to form an ordered dielectric strengthening array, which simultaneously strengthens the electrostatic adsorption force and realizes the positive coupling effect of stiffness improvement and adsorption force enhancement.

[0032] Stable holding phase: After rigid locking is completed, the electrostatic voltage is reduced to 60% to 70% of the rated value to reduce power consumption and discharge risk. At the same time, the excitation current is dynamically fine-tuned according to the temperature data of the in-situ sensing unit to compensate for particle performance drift caused by high and low temperatures and maintain stable clamping force.

[0033] During the grasping process, the leakage current of the electrostatic circuit and the current of the coil circuit are monitored in real time. When a breakdown leakage occurs on a certain electrode island, the power supply to that island is immediately cut off and the voltage of the surrounding electrode islands is increased to dynamically compensate for the total attraction force. When a single excitation coil fails, it seamlessly switches to the redundant winding to ensure that the grasping function is not interrupted.

[0034] ① Compliant Pre-bonding Stage: Low stiffness of the gripper is maintained by a weak current, ensuring that the film surface can adaptively bond to the target morphology. Simultaneously, a low-voltage electric field is applied, utilizing the dielectric enhancement effect of dual-response particles to obtain effective adsorption force at low voltage, guiding the film surface to gradually bond to the target and avoiding hard contact damage. The degree of bonding is determined in real time by an FBG sensor, providing a trigger basis for subsequent locking and realizing autonomous sensing of the bonding process. ② Progressive Locking Enhancement Stage: The electrostatic voltage and excitation current are synchronously and linearly increased, causing the particles to gradually block and solidify. At the same time, the high-dielectric shell is oriented with the particle chain to form an ordered dielectric enhancement array, realizing a positive coupling effect of "stiffness enhancement and simultaneous enhancement of adsorption force". This ensures that the adsorption force does not decrease and the target does not slip during the locking process, and achieves a performance leap through mutual enhancement, solving the problem of bonding separation in the curing stage in traditional step-by-step control. ③ Stable Holding Phase: After locking is completed, the electrostatic voltage is reduced to minimize power consumption and the risk of high-voltage discharge while maintaining adsorption redundancy. Simultaneously, the excitation current is dynamically fine-tuned through temperature feedback to compensate for changes in particle magnetization and base liquid viscosity caused by high and low temperatures, maintaining stable clamping force and achieving constant performance across the entire temperature range. ④ Fault Tolerance Mechanism: Real-time monitoring of leakage current and coil current allows for rapid location of electrode island breakdown and coil faults. In the event of an electrode island fault, a peripheral voltage compensation strategy is employed to maintain a relatively constant total adsorption force. Seamless switching of redundant windings ensures uninterrupted grasping function in the event of a single coil fault, improving system reliability and on-orbit service capability from a control perspective.

[0035] Compared with the prior art, the technical solution provided by this invention has the following advantages:

[0036] 1. The three-layer core-shell magnetic-dielectric dual-response particle integrates magnetic blocking and dielectric enhancement functions into a single particle, realizing the intrinsic coupling of the two gripping mechanisms at the material level, forming a bidirectional positive enhancement mechanism. This breaks the technical prejudice that "magnetorheological particles and electrostatic adsorption are unrelated" and the overall gripping performance far exceeds the simple superposition of the two technologies.

[0037] 2. The embedded island electrode array combined with the gradient dielectric surface layer design solves the industry pain points of electrode tensile fracture, electric field distortion and sudden drop in adsorption force under large deformation. The electrostatic adsorption force retention rate on a curved surface with a curvature radius of 50mm can reach more than 90% of that on a flat surface, which is far superior to existing solutions.

[0038] 3. Space-specific reinforcement is carried out from multiple dimensions of materials, structure and control. Low-volatility base liquid, radiation-resistant additives, ALD atomic oxygen protection layer, high and low temperature compensation model are adopted. The performance temperature drift is less than 10%, the on-orbit expected life is increased by more than 3 times, and it can adapt to extreme environments such as high vacuum, strong radiation, atomic oxygen, and wide temperature range.

[0039] 4. The multi-field cooperative self-compensation algorithm combined with redundancy fault-tolerant design realizes third-order dynamic cooperative grasping and fault self-repair, which greatly improves the success rate of grasping non-cooperative targets and the reliability of operation in extreme environments, meeting the high safety requirements of aerospace missions.

[0040] 5. The core functions are integrated into the particles and partitions without adding a large number of additional structural components. The all-electric drive does not require a vacuum system, avoiding the sealing problem under high vacuum in space. The overall structure is compact and lightweight, which is suitable for the lightweight requirements of space robotic arms. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0042] Figure 2 This is a schematic diagram of the cross-sectional structure of the present invention;

[0043] Figure 3 This is a schematic diagram of the gradient impedance embedded electrostatic adsorption layer structure of the present invention;

[0044] Figure 4 This is a flowchart of the adaptive crawling method of the present invention;

[0045] 1-Magnetic circuit focusing drive device, 2-Dual-response flexible gripper cavity, 3-Gradient impedance embedded electrostatic adsorption layer, 4-Integrated cable, 5-Mounting hole, 6-Sealed shell, 7-Segmented magnetic core, 8-Dual redundant excitation coil, 9-Magnetic-electric interlocking coupling partition, 10-Pressure ring, 11-Flange support, 12-Flexible substrate film, 13-Nano-reinforced phase, 14-Dual-response core-shell particles, 15-Space-grade low-volatility base liquid, 16-Gradient dielectric surface layer, 17-Embedded island electrode array. Detailed Implementation

[0046] To further understand the content of this invention, a detailed description of the invention will be provided in conjunction with the accompanying drawings and embodiments.

[0047] Example

[0048] like Figure 1 , Figure 2 As shown, a magnetoelectric coupled spatial adaptive composite gripper includes a magnetic circuit focusing drive device 1, a magneto-electric interlocking coupling partition 9, a dual-response flexible gripper cavity 2, a gradient impedance embedded electrostatic adsorption layer 3, and a multi-field cooperative self-compensation control unit.

[0049] The magnetic circuit focusing drive device 1 includes a sealed housing 6, a segmented magnetic core 7, and a dual-redundant excitation coil 8. The sealed housing 6 is a cylindrical sealed cavity made of 5A06 aluminum alloy, meeting aerospace-grade vacuum sealing requirements. A standard robotic arm mounting flange is installed at the top, and an integrated electrical connector is located on the side. The segmented magnetic core 7 is made of electrical pure iron DT4C, consisting of an upper magnetic guide post and a lower conical pole shoe, fixed inside the housing center, with the conical pole shoe facing downwards, corresponding to the position of the magnetic guide post on the partition. The dual-redundant excitation coil 8 consists of two independent aerospace-grade radiation-resistant enameled copper wire windings wound in parallel, each with 1000 turns and a rated operating current of 6A. The two windings serve as hot backups for each other; in the event of a failure in one winding, the other can automatically increase the current to compensate for the magnetic field strength. The entire coil is encapsulated with high-temperature resistant epoxy resin to enhance vibration and radiation resistance.

[0050] A magnetic-electric interlocking coupling partition 9 is positioned between the magnetic circuit focusing drive device 1 and the dual-response flexible gripper cavity 2, with an overall thickness of 1.2 mm. The partition substrate is a titanium alloy TC4 thin plate, which combines high strength, low magnetic permeability, and excellent spatial environmental adaptability. Its coefficient of thermal expansion matches that of the aluminum alloy shell and silicone rubber film on both sides. Seven high-permeability permalloy cylinders with a diameter of 3 mm are embedded in a ring array in the central region of the substrate. The upper and lower end faces are flush with the surface of the partition, forming a directional magnetic path. This concentrates and guides the magnetic field generated by the iron core to the central working area of ​​the gripper, increasing the magnetic induction intensity of the particle working area by more than 28%. A grounded copper mesh shielding layer is embedded inside the substrate. The mesh aperture is smaller than the spacing between the magnetic columns, which does not affect the directional magnetic conduction of the magnetic columns and completely blocks the upward coupling of the electrostatic high voltage field, with an electric field shielding effectiveness of ≥45 dB. The lower surface of the partition integrates two miniature Hall magnetic field sensors and one Pt100 temperature sensor to monitor the magnetic field strength and operating temperature at the root of the gripper in situ, providing accurate field data for closed-loop control. The partition is fixed to the lower end face of the sealed shell 6 of the magnetic circuit focusing drive device 1 by titanium alloy bolts, and also serves as the mounting reference surface for the flexible gripper.

[0051] The dual-response flexible gripper cavity 2 includes a flexible substrate membrane 12 and a magnetic-dielectric dual-response particle system sealed and filled within the membrane cavity. The flexible substrate membrane 12 is a hemispherical elastic membrane cavity made of aerospace-grade addition-cured liquid silicone rubber, with a wall thickness of 1 mm, a Shore hardness of 30A, and an elongation at break ≥500%. Three sets of fiber Bragg grating strain sensors distributed along the meridians are pre-embedded within the membrane to monitor the membrane surface deformation and contact stress distribution in real time.

[0052] The magnetic-dielectric dual-response particle system has a volume filling rate of 78% of the membrane cavity volume and is composed of dual-response core-shell particles 14, nano-reinforcing phase 13, and space-grade low-volatility base liquid 15. The dual-response core-shell particles 14 adopt a three-layer structure of "magnetic core - insulating buffer layer - high dielectric shell" with an average particle size of 20 μm. The magnetic core is carbonyl iron powder with an average particle size of 12 μm and high saturation magnetization. The insulating buffer layer is a 200 nm thick silicon dioxide layer, which is coated by chemical deposition to block the conductive path between magnetic particles and suppress charge accumulation and aggregation caused by space irradiation. The high dielectric shell is a 350 nm thick barium titanate nanocrystalline layer with a relative dielectric constant ≥1800. It is grown by hydrothermal method, which can significantly improve the overall dielectric constant of the membrane cavity and enhance the induced polarization charge density on the target surface. The nano-reinforcing phase 13 consists of surface-hydroxylated modified fumed silica nanoparticles with a particle size of 20 nm and a mass accounting for 4.5% of the total particle mass. It fills the gaps between micron-sized particles, improves the blockage density and shear strength, and forms a thixotropic network to inhibit particle sedimentation and reduce the temperature sensitivity of the base liquid viscosity.

[0053] In some embodiments, the surface hydroxylation modification uses hexamethyldisilazane (HMDS) as a surface treatment agent. The HMDS is reacted at 120°C under nitrogen protection for 4 hours at a mass ratio of fumed silica to HMDS of 10:1, resulting in the surface being coated with hydroxyl and methyl groups. The modified nanoparticles have a hydroxyl density ≥ 2.0 hydroxyl groups / nm². This modification treatment improves the dispersibility of the nanoparticles in the base liquid, enabling the formation of a stable thixotropic network and significantly inhibiting particle sedimentation.

[0054] Space-grade low-volatility base fluid 15 is a system of methylphenyl silicone oil and polyα-olefin synthetic oil mixed in a 1:1 mass ratio, with a viscosity of 120 mPa·s at 25°C and a saturated vapor pressure ≤3×10⁻⁻⁻⁶. 7 Pa, thermal decomposition temperature ≥380℃; with 0.8% radiation stabilizer added to the base liquid, it can withstand a total dose of 100kGy of space radiation. The mass ratio of dual-response core-shell particles 14 to nano-reinforcing phase 13 is 93:7, and the volume of the base liquid accounts for 30% of the total volume of the particles.

[0055] In some embodiments, the radiation stabilizer is a mixture of hindered amine light stabilizer (Tinuvin 770 or Chimassorb 944) and phenolic antioxidant (Irganox 1010) in a mass ratio of 2:1, with the total addition amount being 0.5% to 1% of the base liquid mass. This compound system can effectively inhibit the degradation and crosslinking of the base liquid induced by high-energy particle irradiation in space through a synergistic mechanism of capturing free radicals and decomposing peroxides. After irradiation with a total dose of 100 kGy of Co-60, the viscosity change rate of the base liquid does not exceed 15%.

[0056] The dual-response flexible gripper cavity 2 is fixed below the magnetic-electric interlocking coupling partition 9 by a pressure ring 10 and a flange support 11. The flange support 11 is a titanium alloy ring, and the pressure ring 10 is a stainless steel ring. The pressure ring 10 presses the opening edge of the flexible substrate membrane 12 between the flange support 11 and the partition, and the sealing is achieved by bolt tightening to ensure that the membrane cavity does not leak during particle blockage and deformation.

[0057] like Figure 3 As shown, the gradient impedance embedded electrostatic adsorption layer 3 and the flexible substrate film 12 are co-cured and formed. From the inside out, they are: an embedded island electrode array 17, a gradient dielectric surface layer 16, and an antigen oxygen protection layer. The embedded island electrode array 17 divides the overall electrode into 12 independent fan-shaped electrode islands, distributed in a grid pattern along the circumferential and radial directions of the sphere. Each electrode island contains interdigitated comb-tooth electrodes, prepared by magnetron sputtering of copper-nickel alloy, with a line width of 0.4 mm and a line spacing of 0.8 mm. Adjacent electrode islands are connected by stretchable interconnecting wires with a serpentine folding structure. The wires are 0.1 mm wide and have an elongation rate ≥400%, ensuring that the interconnecting structure does not break when the gripper wraps around a large-curvature irregularly shaped object. Each electrode island is equipped with an independent high-voltage drive channel and overcurrent and overvoltage protection circuits, supporting individual on / off switching and voltage regulation.

[0058] The gradient dielectric surface layer 16 employs a zoned dielectric constant design: the area directly above the electrode islands is made of high-dielectric silicone rubber with a dielectric constant of 9, enhancing local electric field penetration; the gap area between the electrode islands is made of low-dielectric silicone rubber with a dielectric constant of 3.5, suppressing edge electric field distortion and surface discharge. This gradient design improves the uniformity of electrostatic adsorption force in curved surfaces by 40% and the breakdown voltage in a vacuum environment by 30%. A 100nm thick alumina ceramic atomic oxygen protection layer is deposited on the outermost surface of the gripper, prepared using atomic layer deposition technology, which reduces the spatial atomic oxygen ablation rate by an order of magnitude, significantly improving on-orbit service life.

[0059] The excitation power supply line of the magnetic circuit focusing drive device 1, the high voltage line of the gradient impedance embedded electrostatic adsorption layer 3, and the signal line of the in-situ sensing unit are combined into an integrated cable 4, which is led out from the integrated electrical connector on the side of the sealed shell 6. The cable is an aerospace-grade radiation-resistant cable.

[0060] The multi-field cooperative self-compensation control unit has an on-orbit microprocessor built in, which integrates a third-order cooperative grasping algorithm, fault-tolerant control logic and space environment adaptation model, and is electrically connected to the dual redundant excitation coil 8, the embedded island electrode array 17, the fiber Bragg grating sensor and the in-situ sensing unit, respectively.

[0061] Work process

[0062] like Figure 4 As shown, the adaptive crawling process in this embodiment is as follows:

[0063] 1. Approach and Pre-bonding: The gripper approaches the target object under the drive of the robotic arm. A weak current of 0.5A is passed through the dual redundant excitation coil 8 to maintain the gripper's low stiffness. At the same time, a low-voltage electric field of 25% of the rated voltage is applied by the embedded island electrode array 17. The high dielectric shell of the dual-response core-shell particles 14 strengthens the weak adsorption force and guides the flexible substrate film 12 to adaptively bond to the target surface morphology. The deformation data is collected in real time by the fiber Bragg grating strain sensor to determine the degree of bonding.

[0064] 2. Progressive Locking Enhancement: When the adhesion reaches the set threshold, the electrostatic voltage and excitation current increase synchronously and linearly; the magnetic field strength gradually increases, and the dual-response core-shell particles 14 are oriented along the magnetic field lines to form a chain structure. The particles gradually change from a loose state to a dense and blocked state, and the gripper stiffness continues to increase; at the same time, the high dielectric shell is arranged in an orderly manner with the particle chain to form a dielectric enhancement array, which further strengthens the polarization charge on the target surface. The electrostatic adsorption force increases synchronously, realizing the positive coupling enhancement of stiffness and adsorption force, and completely solving the problem of adhesion separation during the curing process.

[0065] 3. Stable Transfer: After rigid locking is completed, the electrostatic voltage drops to 65% of the rated value to reduce power consumption and the risk of high-voltage discharge. Simultaneously, the Pt100 temperature sensor collects the operating temperature in real time, and the control unit dynamically fine-tunes the excitation current based on the temperature data to compensate for particle viscosity and magnetization drift caused by high and low temperatures, maintaining stable clamping force. These two mechanisms work together during transfer, ensuring that the target object will not loosen even if impacted by micrometeoroids or disturbed by the robotic arm.

[0066] 4. Fault tolerance: Real-time monitoring of electrostatic leakage current and coil circuit current during the grasping process; when a breakdown leakage occurs on a certain electrode island, the power supply to that island is immediately cut off, and the voltage of the surrounding adjacent electrode islands is increased to dynamically compensate for the total attraction force; when a single set of excitation coils fails, it seamlessly switches to another set of redundant windings and automatically increases the current to compensate for the magnetic field strength, ensuring that the grasping function is not interrupted.

[0067] 5. Release: After reaching the target position, the excitation current is linearly reduced until it is disconnected, the magnetic field disappears, the dual-response core-shell particles 14 resume free arrangement, the particle system returns to a loose state, and the gripper returns to flexibility; then the electrostatic adsorption high voltage is disconnected, the electrostatic force disappears, and the target object is released smoothly.

[0068] This invention features three independent working modes: a pure electrostatic adsorption mode suitable for the traceless transfer of planar objects such as solar panels and satellite panels; a pure magnetic drive blocking mode suitable for the rigid clamping of irregularly shaped objects such as space debris and irregular components; and a collaborative enhancement mode suitable for high-reliability grasping scenarios such as precision and fragile parts and non-cooperative targets. The modes can be flexibly switched according to task requirements.

[0069] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A magnetoelectric coupled spatial adaptive composite gripper, characterized in that, The system includes a magnetic circuit focusing drive device, a magneto-electric intercalation coupling partition, a dual-response flexible gripper cavity, a gradient impedance embedded electrostatic adsorption layer, and a multi-field cooperative self-compensation control unit. The magnetic circuit focusing drive device comprises a sealed outer shell, a segmented magnetic core, and dual redundant excitation coils. The magneto-electric intercalation coupling partition is disposed between the magnetic circuit focusing drive device and the dual-response flexible gripper cavity, employing a composite structure of a non-magnetic substrate intercalated with a magnetic pillar array, an electromagnetic shielding mesh, and in-situ sensing units. The dual-response flexible gripper cavity comprises a flexible substrate membrane and a sealing filler within the membrane. The cavity contains a magnetic-dielectric dual-response particle system; the magnetic-dielectric dual-response particle system is composed of dual-response core-shell particles, nano-reinforcing phase and space-level low-volatility base liquid, the dual-response core-shell particles are a three-layer core-shell structure of magnetic core-insulating buffer layer-high dielectric shell; the gradient impedance embedded electrostatic adsorption layer is embedded in the flexible substrate film and co-cured, including an embedded island electrode array and a gradient dielectric surface layer; the multi-field cooperative self-compensation control unit is electrically connected to the dual redundant excitation coil, the embedded island electrode array and the in-situ sensing unit respectively.

2. The magnetoelectric coupled spatial adaptive composite gripper according to claim 1, characterized in that, The dual-response core-shell particles have a single particle size of 8μm to 40μm; the magnetic core is carbonyl iron powder with high saturation magnetization and a particle size of 5μm to 30μm; the insulating buffer layer is a silicon dioxide layer with a thickness of 100nm to 300nm, which is coated on the surface of the magnetic core by chemical deposition; the high dielectric outer shell is a barium titanate nanocrystalline layer with a thickness of 200nm to 500nm and a relative permittivity ≥1500, which is grown on the outside of the insulating buffer layer by hydrothermal method.

3. The magnetoelectric coupled spatial adaptive composite gripper according to claim 1, characterized in that, The nano-reinforcing phase consists of surface-hydroxylated modified fumed silica nanoparticles with a particle size of 15 nm to 30 nm and a mass accounting for 3% to 6% of the total particle mass. The space-grade low-volatility base liquid is a mixture of methylphenyl silicone oil and polyα-olefin synthetic oil, with a viscosity of 80 mPa·s to 200 mPa·s at 25°C and a saturated vapor pressure ≤ 5 × 10⁻⁻⁻⁻⁶. 7 Pa, with 0.5% to 1% radiation stabilizer added to the base solution; the mass ratio of dual-response core-shell particles to nano-reinforcing phase is 92:8 to 95:5, the volume of the base solution accounts for 25% to 35% of the total volume of the particles, and the volume filling rate of the particle system is 70% to 85% of the membrane cavity volume.

4. The magnetoelectric coupled spatial adaptive composite gripper according to claim 1, characterized in that, The flexible substrate membrane is made of aerospace-grade addition-type liquid silicone rubber with a wall thickness of 0.4 mm to 2 mm, a Shore hardness of 25 A to 40 A, and an elongation at break of ≥450%. Three sets of fiber Bragg grating strain sensors distributed along the warp are embedded in the flexible substrate membrane for real-time monitoring of membrane surface deformation and contact stress distribution.

5. The magnetoelectric coupled spatial adaptive composite gripper according to claim 1, characterized in that, The embedded island electrode array comprises 12 independent fan-shaped electrode islands, distributed in a grid pattern along the circumferential and radial directions of the sphere. Each electrode island contains interdigitated comb-tooth electrodes, fabricated using magnetron sputtering of copper-nickel alloy, with a linewidth of 0.2 mm to 0.6 mm and a line spacing of 0.4 mm to 1.2 mm. Adjacent electrode islands are connected by stretchable interconnecting wires with a serpentine folding structure, a wire width of 0.1 mm, and a stretching rate ≥350%. Each electrode island is equipped with an independent high-voltage drive channel and overcurrent and overvoltage protection circuits.

6. The magnetoelectric coupled spatial adaptive composite gripper according to claim 1, characterized in that, The gradient dielectric surface layer adopts a gradient dielectric constant design: the area directly above the electrode island is made of high dielectric silicone rubber with a dielectric constant of 8 to 10, and the gap area between the electrode islands is made of low dielectric silicone rubber with a dielectric constant of 3 to 4; the outermost surface of the claw is provided with a 100 nm thick alumina ceramic antigen oxygen protection layer, which is prepared by atomic layer deposition process.

7. The magnetoelectric coupled spatial adaptive composite gripper according to claim 1, characterized in that, The overall thickness of the magnetic-electric intercalation coupling partition is 0.9mm to 1.6mm; the non-magnetic substrate is a thin TC4 titanium alloy plate; the magnetic pillar array consists of 6 to 8 high-permeability permalloy cylinders embedded in a ring array in the central region of the substrate, with a cylinder diameter of 2mm to 5mm and the upper and lower end faces flush with the surface of the partition; the electromagnetic shielding mesh is a grounded copper mesh shielding layer embedded inside the substrate, with a mesh aperture smaller than the spacing between the magnetic pillars; the in-situ sensing unit includes two miniature Hall magnetic field sensors and one Pt100 temperature sensor integrated on the lower surface of the partition.

8. The magnetoelectric coupled spatial adaptive composite gripper according to claim 1, characterized in that, The sealed outer shell is a cylindrical sealed cavity made of 5A06 aluminum alloy, meeting aerospace-grade vacuum sealing requirements. A standard robotic arm mounting flange is provided at the upper end, and an integrated electrical connector is provided on the side. The segmented magnetic core is made of electrical pure iron DT4C, divided into an upper section of magnetic guide pillars and a lower section of tapered pole shoes, with the tapered pole shoes corresponding to the magnetic guide pillar array. The dual redundant excitation coil consists of two sets of parallel-wound aerospace-grade radiation-resistant enameled copper wire windings, each with 700 to 1300 turns and a rated operating current of 1A to 12A. The entire coil is potted with high-temperature resistant epoxy resin.

9. The magnetoelectric coupled spatial adaptive composite gripper according to claim 1, characterized in that, The dual-response flexible gripper cavity is fixed below the magnetic-electric interlocking coupling partition by a pressure ring and a flange support. The pressure ring presses the opening edge of the flexible substrate membrane between the flange support and the partition to achieve sealing and fixation. The excitation power supply line of the magnetic circuit focusing drive device, the high voltage line of the gradient impedance embedded electrostatic adsorption layer, and the signal line of the in-situ sensing unit are combined into an integrated cable, which is led out from the electrical connector on the side of the sealed shell.

10. An adaptive grasping method based on the magnetoelectric coupling spatial adaptive composite gripper according to any one of claims 1-9, characterized in that, Includes third-order dynamic cooperative control steps: Compliant pre-bonding stage: A weak current of 0.3 to 0.8 A is passed through the dual redundant excitation coil to maintain the low stiffness of the gripper. At the same time, a low voltage electric field of 20% to 30% of the rated voltage is applied by the embedded island electrode array. The weak adsorption force is strengthened by the dielectric enhancement effect of the dual-response core-shell particles, which guides the gripper film surface to adaptively bond to the target morphology. The degree of bonding is determined in real time by the fiber Bragg grating strain sensor. Progressive locking and strengthening stage: When the fit reaches the set threshold, the electrostatic voltage and the excitation current increase synchronously and linearly; the magnetic-dielectric dual-response particles are gradually blocked and solidified, and the high dielectric shell is oriented with the particle chain to form an ordered dielectric strengthening array, which simultaneously strengthens the electrostatic adsorption force and realizes the positive coupling effect of stiffness improvement and adsorption force enhancement. Stable holding phase: After rigid locking is completed, the electrostatic voltage is reduced to 60% to 70% of the rated value to reduce power consumption and discharge risk. At the same time, the excitation current is dynamically fine-tuned according to the temperature data of the in-situ sensing unit to compensate for particle performance drift caused by high and low temperatures and maintain stable clamping force. During the grasping process, the leakage current of the electrostatic circuit and the current of the coil circuit are monitored in real time. When a breakdown leakage occurs on a certain electrode island, the power supply to that island is immediately cut off and the voltage of the surrounding electrode islands is increased to dynamically compensate for the total attraction force. When a single excitation coil fails, it seamlessly switches to the redundant winding to ensure that the grasping function is not interrupted.

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