Electro-Rheological-Fluid-Based Articulating Robotic Systems

Abstract

The limitations of the current generation of robotic systems has triggered a new research thrust for predicting the elastodynamic response of assemblages of articulating flexible-bodied systems. This research thrust is extended herein by proposing the fabrication of robotic systems in either monolithic or ultra-advanced composite laminated high-strength, high-stiffness materials in which are incorporated electro-rheological fluids. These multiphase fluid systems, which change their rheological behavior instantaneously when subjected to an externally applied electrical field, provide a potential for tailoring the vibrational characteristics of these hybrid materials from which the structural members of the proposed robotic systems are fabricated. This paper is focused on developing the necessary design tools for predicting the vibrational response of flexible multibodied articulating systems fabricated with this new class of advanced materials. A variational theorem is developed herein as a basis for finite element formulations which can be employed to predict the elastodynamic response of these systems. A coherent combination of experimental and theoretical work on cantilevered beams is presented to demonstrate the viability of the proposed design methodology. In addition, computer simulation results are presented to demonstrate the potential payoffs in terms of superior performance characteristics of a new generation of robotic systems capitalizing on this innovative and revolutionary design philosophy.

A State-of-the-Art Review on Robots and Medical Devices Using Smart Fluids and Shape Memory Alloys

“…As far as is known, the first application of ERFs to robotic systems was reported by Gandhi et al [1]. In this work, the forearm of a commercial parallel robot was retrofitted by inserting ERF.…”

“…The deflection of the forearm was successfully reduced during dynamic maneuvering and transient motions, owing to the increment of the field-dependent damping property of the ERF domain. Choi et al [2,3] performed a study similar to Gandhi et al [1], with primary focusing on the vibration control of a flexible robot arm incorporating ERF. In this work, a single-link flexible robot arm system was made by inserting ERF into the box-type aluminum arm.…”

The Tenability of Vibration Parameters of a Sandwich Beam Featuring Controllable Core: Experimental Investigation

“…These structures are called smart sandwich structures like a smart structure in which both the natural frequency and damping property can be controlled by applying external fields such as voltage and current. The development of electrorheological (ER) fluid based sandwich structures was initiated by Gandhi et al [1][2][3]. In this work, it has been shown that the dynamic characteristics of ER fluid based sandwich structures can be tuned showing the increment of damping ratio and natural frequencies as the electric field increases.…”

Study and Manufacture of Magneto-Rheological Vibration Absorber Based on Internal Resonance

“…In recent year, the magneto-rheology (MR) material was applied to the vibration control of flexible robot to improve the accuracy of movement of the end-effect by Gandhi [8]. Compared with the traditional vibration absorbing material, not only the passive control but also the semi-active control can be implemented according to the mechanical properties of MR material changing continuously with the external magnetic condition [9].…”