Stiffness-variable grippers have potential applications in many fields. In this paper

a stiffness-variable gripper based on magnetorheological joints is designed. Firstly

the working principle of magnetorheological joints is introduced

and the magnetic field simulation of magnetorheological joints is carried out by COMSOL to verify its motion principle and variable damping characteristics. Then

the design and manufacturing process of the gripper were introduced

and the gripping characteristics of the gripper were obtained by static analysis. Secondly

through stiffness-variable experiments and dexterity experiments verify that the designed gripper has good variable stiffness ability and flexible reversing ability. Finally

a grasping platform was built and the gripper was controlled for grasping experiments

and the results proved that the designed stiffness-variable gripper has a good real-time variable stiffness ability

which can quickly and stably grasp objects of different shapes and textures

and has good application prospects in the fields of agricultural sorting

industrial assembly

scientific research experiments and daily life.