Development of MR Clutch for a Prospective 5 DOF Robot

Pisetskiy, Sergey; Kermani, Mehrdad R.

doi:10.1109/iros.2018.8593582

Cited by 3 publications

(2 citation statements)

References 14 publications

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“…One of the improvements that set apart the design of our MR clutch from conventional multi-disk MR clutches with Hall sensors is the location and arrangement of the sensors (Pisetskiy and Kermani, 2018). Unlike previously built MR clutches (Moghani and Kermani, 2016; Shafer and Kermani, 2017), our proposed design includes two programmable Hall sensors (Infineon TLE 4998s4) outside the active zone of the clutch.…”

Section: Improved Design Of the Mr Clutchmentioning

confidence: 99%

High-performance magneto-rheological clutches for direct-drive actuation: Design and development

Pisetskiy

Kermani

2021

Journal of Intelligent Material Systems and Structures

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This paper presents an improved design, complete analysis, and prototype development of high torque-to-mass ratio Magneto-Rheological (MR) clutches. The proposed MR clutches are intended as the main actuation mechanism of a robotic manipulator with five degrees of freedom. Multiple steps to increase the toque-to-mass ratio of the clutch are evaluated and implemented in one design. First, we focus on the Hall sensors’ configuration. Our proposed MR clutches feature embedded Hall sensors for the indirect torque measurement. A new arrangement of the sensors with no effect on the magnetic reluctance of the clutch is presented. Second, we improve the magnetization of the MR clutch. We utilize a new hybrid design that features a combination of an electromagnetic coil and a permanent magnet for improved torque-to-mass ratio. Third, the gap size reduction in the hybrid MR clutch is introduced and the effect of such reduction on maximum torque and the dynamic range of MR clutch is investigated. Finally, the design for a pair of MR clutches with a shared magnetic core for antagonistic actuation of the robot joint is presented and experimentally validated. The details of each approach are discussed and the results of the finite element analysis are used to highlight the required engineering steps and to demonstrate the improvements achieved. Using the proposed design, several prototypes of the MR clutch with various torque capacities ranging from 15 to 200 N·m are developed, assembled, and tested. The experimental results demonstrate the performance of the proposed design and validate the accuracy of the analysis used for the development.

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Section: Improved Design Of the Mr Clutchmentioning

confidence: 99%

High-performance magneto-rheological clutches for direct-drive actuation: Design and development

Pisetskiy

Kermani

2021

Journal of Intelligent Material Systems and Structures

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“…[ 2 ] Carlson [ 3 ] investigated the possibilities of using MR fluids to develop commercial devices. Since then, all kinds of industrial applications have been developed, such as linear dampers, [ 4 ] rotary shaft dampers, [ 5 ] clutches, [ 6 ] flow control valves, [ 7 ] rotary brakes, [ 8 ] and polishing systems. [ 9 ]…”

Section: Introductionmentioning

confidence: 99%

Synthesis and Characterization of Highly Deformable Multilayer Magnetoactive Elastomers with Magnetically Soft Particles

et al. 2023

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Herein, a new highly deformable magnetoactive elastomeric material is developed. The elastomer is composed of a silicon‐based matrix and soft‐magnetic Fe microparticles. It presents a nonuniform multilayer internal structure, with highest particle concentration in one‐half of the thickness. These elastomers are produced in sheet and tubular formats, wherein multilayer distribution of the components is achieved by the gravitational and centrifugal force respectively. The study of the rheological properties shows a high change in the dynamic modulus of the elastomer in the presence of magnetic field, which is representative of a high magnetorheological effect. Regarding the deformability of the elastomer, to monitor the displacements and curvatures generated under the action of a magnetic field, an optical, noninvasive, and magnetic field‐insensitive system based on 3D stereoscopic technique is employed. Using this method, the digitization of the upper curved surface of the elastomer as a function of the applied magnetic field is obtained. From the digitized surfaces, the deformation of the material in response to a magnetic field is calculated, reaching deformations up to 23.7% at 207 kA m−1. Moreover, the deformation level is linearly variable and controllable by the strength of the applied magnetic field, allowing dynamic deformation of the material.

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2-DOF Robot Arm with Variable Torque Limiters Realized by Electrostatic Film Motors

Osada,

Zhang,

Yoshimoto

et al. 2023

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Development of MR Clutch for a Prospective 5 DOF Robot

Cited by 3 publications

References 14 publications

High-performance magneto-rheological clutches for direct-drive actuation: Design and development

High-performance magneto-rheological clutches for direct-drive actuation: Design and development

Synthesis and Characterization of Highly Deformable Multilayer Magnetoactive Elastomers with Magnetically Soft Particles

2-DOF Robot Arm with Variable Torque Limiters Realized by Electrostatic Film Motors

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