Journal
JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES
Volume 32, Issue 12, Pages 1313-1322Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/1045389X20943958
Keywords
magnetorheological fluid; clutch; twin-driven actuator; haptics
Categories
Funding
- Innovative Science and Technology Initiative for Security, ATLA, Japan [JPJ004596]
Ask authors/readers for more resources
This study proposed a new structure of a magnetorheological fluid-based actuator suitable for haptic devices and evaluated its performance through experiments. The results showed that 132DG is a better material for force control compared to other magnetorheological fluids. Two types of twin-driven magnetorheological fluid actuators (link type and belt type) were compared, with the belt-type actuator being more suitable for large range motion and the link-type actuator being better for accurate torque control.
Magnetorheological fluids are composite materials made of ferromagnetic particles, medium oils, and several types of additives. We have developed actuation systems for the fine haptic control of master-slave robots. In this study, we proposed a new structure of a magnetorheological fluid-based actuator suitable for haptic devices. For the basic structure of the actuator, we proposed a twin-driven magnetorheological fluid actuator using two multi-layered disc-type magnetorheological fluid clutches for haptics. We conducted performance measures for the magnetorheological fluid clutches for haptics with three commercially available magnetorheological fluids (i.e. 122EG, 132DG, and 140CG from Lord Corp.). The experimental results show that 132DG is a better material for force control. Then, we proposed two types of twin-driven magnetorheological fluid actuators (i.e. link type and belt type) and compared their performance. The results show that the averages of the time constant are 19.1 and 16.1 ms for the link type and belt type, respectively. Furthermore, the averages of torque error are 0.033 and 0.068 N m for the link type and belt type, respectively. However, the belt-type twin-driven magnetorheological fluid actuator is better if a large range of motion is required, while the link-type twin-driven magnetorheological fluid actuator is better if accurate torque control is required.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available