Innovative variable stiffness and variable damping magnetorheological actuation system for robotic arm positioning

Deng, Lei; Sun, Shuaishuai; Christie, Matthew; Li, Wenxing; Ning, Donghong; Du, Haiping

doi:10.1177/1045389x221099453

Cited by 15 publications

(3 citation statements)

References 27 publications

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“…This solidification process occurs within milliseconds and is reversible [9]. Consequently, they have garnered extensive attention and application across diverse domains, including automotive engineering [10][11][12][13][14][15], civil engineering [16][17][18][19], and robotic [20][21][22][23][24][25][26].…”

Section: Introductionmentioning

confidence: 99%

Development of novel magnetorheological dampers with low-speed sensitivity for flying car suspensions

Jiang,

Gong,

et al. 2024

Smart Mater. Struct.

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As urban traffic environments continue to grow in complexity, there is an urgent need for a versatile mode of transportation that seamlessly transitions between terrestrial and aerial mobility. In these conventional magnetorheological damper (CMRD), the magnetorheological (MR) fluid flowing through the narrow annular gap between the piston and cylinder in CMRD results in a damping force directly proportional to velocity. As velocity increases, the damping force rises sharply, posing a significant risk to the vehicle's mechanical structure and passenger safety. This velocity sensitivity restricts their applications primarily to standard commercial vehicle suspension systems. They face significant challenges when it comes to high-speed impact scenarios. To overcome this limitation, enhance the shock-absorbing capacity of flying cars, ensure passenger safety, and improve passenger comfort during the landing phase, this study introduces a novel magnetorheological damper (NMRD) with unique internal channel structure embedded in a circular permanent magnet. In road travel mode, flying cars equipped with NMRD can maintain a broad dynamic range. During the landing process with high-speed impact, the specialized channel activates to reduce the peak impact force effectively. This feature greatly expands the application range of magnetorheological dampers (MRD). The researches included simulations of the electromagnetic induction phenomenon within the piston, followed by numerical analyses and impact tests to compare the velocity sensitivity of these two distinct impact dampers. Experimental evaluations were conducted using a material testing system (MTS), the peak force and peak acceleration experienced by the two dampers during impact were tested using a dedicated drop hammer apparatus. These tests demonstrate that the NMRD exhibits superior impact resistance performance compared to CMRD. This highlights the promising potential for the NMRD's application within the suspension systems of flying cars.

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Section: Introductionmentioning

confidence: 99%

Development of novel magnetorheological dampers with low-speed sensitivity for flying car suspensions

Jiang,

Gong,

et al. 2024

Smart Mater. Struct.

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“…Other techniques to reduce overshoot and improve efficiency are discussed in [14]- [16].Undershoot reduction is summarised in [17][18][19][20]. The overshoot reduction techniques used for robotics, electric vehicles and dynamic systems [21][22][23]. The reduction in overshoot for boost and buck-boost converter are discussed [24][25][26].…”

Section: Introductionmentioning

confidence: 99%

Quantitative evaluation measures for DC-DC converters

Muhammad

Amin

2023

IEICE Electron. Express

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The use of power electronics has increased in everyday applications such as portable devices, biomedical, electric vehicles, etc. One of the major issues in such devices is an overshoot observed in the output voltage. The desired output in the converters comes with the over/undershoot problem which affects their performance. State-of-the-art evaluation measures such as overshoot percentage, settling time, and rise time only analyze a certain aspect and do not estimate the true performance of the system. In this work, we propose two new evaluation measures to analyze the performance of the converters overcoming the limitations of existing measures, i) Total over-under shoot (TS) and ii) First shoot second shoot (FSSS). We also propose one composite evaluation metric Aoun stability-1 to provide a single quantitative measure to analyze the performance of the system. A basic converter with a PID controller and Machine Learning based model is used to highlight the limitations of the existing metrics and strengths of the proposed metrics. Experimental results also highlight the advantages of the proposed measures. The proposed work is also expected to attract attention from the signal processing community facing similar issues in many applications.

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“…Magnetorheological fluids (MRFs) are smart materials whose rheological properties can be continuously and reversibly controlled within milliseconds by regulating the applied magnetic field [1][2][3][4]. With MRFs and mechanical structure integrated, magnetorheological (MR) dampers [5,6] have received much attention in the research and applications of automotive engineering [7][8][9][10], civil engineering [11][12][13], robotic engineering [14][15][16][17], due to their merits such as fast response at a milliseconds level, simple mechanical structure, large controllable damping force and low power consumption.…”

Section: Introductionmentioning

confidence: 99%

Development of a new magnetorheological impact damper with low velocity sensitivity

Deng¹,

Sun²,

Jin³

et al. 2022

Smart Mater. Struct.

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The velocity sensitive characteristic of the conventional linear magnetorheological (MR) damper is undesirable in the application of impact protection. It will induce large damping forces when the damper suffers high velocity impacts, whilst comprising the energy dissipation efficiency of the damper and posing a serious threat to occupants and mechanical structures. This work reports a new MR impact damper (NMRID) with low velocity sensitivity. Unlike the conventional magnetorheological impact damper (CMRID) in which MR fluids (MRFs) flow from one chamber to the other through a small annular gap between the piston and cylinder, the NMRID has a whole annular gap between the shaft and cylinder that is filled with MRFs, and the MRFs work in a pure shear mode without any liquid flow. In this work, a NMRID and a CMRID were prototyped. The velocity sensitivity of these two impact dampers was compared via numerical analysis and experimental impact tests. The analysis and test results indicate that NMRID possesses a much lower velocity sensitivity than the CMRID; the dynamic range of the NMRID decreases less than CMRID with the increase of nominal impact velocity. Then, to demonstrate the controllability of NMRID, impact tests with a bang-bang control were implemented, and the peak force of NMRID was successfully controlled around a target force under different levels of nominal impact velocity. This research proves that the designed NMRID is less sensitive to velocity than the CMRID and the NMRID has good controllability, which demonstrates that the NMRID can serve as a better candidate than CMRID in applications with high impact velocity.

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Innovative variable stiffness and variable damping magnetorheological actuation system for robotic arm positioning

Cited by 15 publications

References 27 publications

Development of novel magnetorheological dampers with low-speed sensitivity for flying car suspensions

Development of novel magnetorheological dampers with low-speed sensitivity for flying car suspensions

Quantitative evaluation measures for DC-DC converters

Development of a new magnetorheological impact damper with low velocity sensitivity

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