A Concept of a Miniaturized MR Clutch Utilizing MR Fluid in Squeeze Mode

Pisetskiy, Sergey; Kermani, Mehrdad R.

doi:10.1109/iros45743.2020.9341643

Cited by 13 publications

(8 citation statements)

References 20 publications

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“…in the knee brace with MR actuator presented by Chen and Liao [17], geared transmissions may be used to provide mechanical advantage to other elements of the device, such as the motor which the MR brake is geared to in this example. Recently, for an incredibly smallscale damper design, weighing only 10 g, Pisetskiy and Kermani [23] have demonstrated the potential for a new squeezemode clutch. This is essentially a planetary gearset flooded with MRF, complete with an internal electromagnet with a flux path passing through the gears.…”

Section: Survey Of Existing Rotary Mr Devices With Geared Transmissionsmentioning

confidence: 99%

A magnetorheological fluid based planetary gear transmission for mechanical power-flow control

Christie

Sun

Quenzer-Hohmuth

et al. 2021

Smart Mater. Struct.

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Power transmission for mechanical systems often involves the use of clutching- or dissipative-elements to protect drive systems and provide steady output power. As standard implementations in motor-driven systems, these devices operate passively or in discrete states, providing limited controllability to the power output. This paper presents a magnetorheological-fluid-based differential (planetary) gear transmission which serves to variably couple motor power through a sun gear input to a load affixed to a planet carrier output. This is achieved both rapidly and continuously through controlled slippage between the ring gear of the device and its casing. Compared to conventional MR clutches, the unique functionality of the differential gearbox enables use of an MR brake with lower inertia than an in-line clutch. Through control of current supplied to the energizing electromagnet of brake component of the transmission, simple and reversible governing of output torque and speed is achieved. This behaviour is modelled and verified through testing, showing a 349% variation in brake torque for constant speed tests from the off state to the maximum capacity of the device, with a 262% variation in brake torque under a harmonic input displacement also observed. The versatility of the device demonstrated through PID speed and torque control.

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Section: Survey Of Existing Rotary Mr Devices With Geared Transmissionsmentioning

confidence: 99%

A magnetorheological fluid based planetary gear transmission for mechanical power-flow control

Christie

Sun

Quenzer-Hohmuth

et al. 2021

Smart Mater. Struct.

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“…To address these limitations, smart materials especially MR materials have been introduced into the implementation of robotic actuators, with the aim of achieving controllable damping to increase positioning speed while enhancing commutation capability. MR fluids (MRFs) are a typical smart material characterized by a controllable viscosity, fast responses and a low energy consumption [23,24]. Specifically, MRFs are known for their MR effect, i.e.…”

Section: Introductionmentioning

confidence: 99%

Investigation of a dexterous actuator integrated with magnetorheological bearings towards high switching frequency and fast response

Zheng,

Zhu,

Yang

et al. 2024

Smart Mater. Struct.

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Actuators are pivotal for empowering robots to execute a wide array of tasks and adapt to diverse surroundings. However, conventional actuators with low switching frequency and prolonged response time significantly comprise the adaptability of robots, restricting them to single operation condition. This paper presents a solution to this issue by introducing a magnetorheological (MR) actuator with real-time controllable damping. Compared to conventional actuators, the MR actuator boasts exceptional dexterity, featuring a significantly elevated switching frequency and swifter response time. To validate the MR actuator's remarkable dexterity, rapid commutation tests and transient response experiments were conducted. Impressively, the MR actuator achieved a stable switching frequency up to 10 Hz, surpassing that of conventional actuators (2 Hz). Moreover, it demonstrated reduced response time and heightened energy efficiency. Beyond robotics, MR actuators also find applications in areas which require improved machinery precision and production efficiency.

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“…The magnetic flux can be generated by a permanent magnet (Bucchi et al, 2014; Rizzo et al, 2015), but is often generated by a magnetic coil for fast response actuators (Fauteux et al, 2010). The shear interface can have various geometries (Nam and Ahn, 2009; Pisetskiy and Kermani, 2020; Singh et al, 2020; Wang et al, 2013) but the two main geometries are the disk type (Bucchi et al, 2017; Pisetskiy and Kermani, 2021; Shafer and Kermani, 2011b) and the drum type (Lebel et al, 2021; Qin et al, 2018; Rossa et al, 2014; Figure 3). Another type is called serpentine, and consists of one large drum where the magnetic flux crosses the same MR fluid gap several times, in a serpentine way (Blake and Gurocak, 2005; Senkal and Gurocak, 2009).…”

Section: Introductionmentioning

confidence: 99%

“…Studies show a lot of interest for torque densification of MR clutches, making them more compact (Najmaei et al, 2015; Pisetskiy and Kermani, 2020). Studies showed interest in miniaturization like Blake and Gurocak with a 68 g MR brake for haptic glove applications (Blake and Gurocak, 2009), or the one for virtual needle insertion (Gonenc and Gurocak, 2012).…”

Section: Introductionmentioning

confidence: 99%

Design and characterization of a miniaturized low inertia and low viscous friction magnetorheological clutch using 3D metal printing for human-robot applications

Lhommeau

Lamy

Plante

2023

Journal of Intelligent Material Systems and Structures

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Robotic actuators such as geared MR actuators must improve their torque capacities and reduce their size to increase system integration density. MR clutches are at the heart of geared MR actuators and conventional machining is a major hurdle to downsizing because it requires having close tolerance for machining and assembling a large number of small parts. This paper studies the potential of nested 3D printed MR clutches to improve the torque density of geared MR actuators at small scales. Nested 3D printed MR clutches are multi-disk MR clutches where the rotor and stator are fabricated simultaneously on a single 3D print. A prototype is designed, built, tested and compared to similar conventionally made MR clutches. The prototype weighs 84 g and can transmit a maximum torque of 0.88 N.m. The fabrication process is fast and simple, and the performance levels well surpass those of comparable machined MR clutches. The manufactured prototype doubles the torque density and multiply respectively by 4 and by 10 the torque-to-inertia and torque-to-viscosity ratios compared to equivalent machined MR clutches. Results show that nested 3D printing of MR clutches is an effective manufacturing process and opens the door to a new generation of high-performance mechanical transducer.

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A Concept of a Miniaturized MR Clutch Utilizing MR Fluid in Squeeze Mode

Cited by 13 publications

References 20 publications

A magnetorheological fluid based planetary gear transmission for mechanical power-flow control

A magnetorheological fluid based planetary gear transmission for mechanical power-flow control

Investigation of a dexterous actuator integrated with magnetorheological bearings towards high switching frequency and fast response

Design and characterization of a miniaturized low inertia and low viscous friction magnetorheological clutch using 3D metal printing for human-robot applications

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