Performance Evaluation of a Hollowed Multi-Drum Magnetorheological Brake Based on Finite Element Analysis Considering Hollow Casing Radius

Qin, Huanhuan; Song, Aiguo; Mo, Yiting

doi:10.1109/access.2019.2930301

Cited by 15 publications

(10 citation statements)

References 26 publications

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“…The experimental results for the clutches used in joint 1 and joint 5 of the manipulator are presented in this section. Similar results from other MR (Qin et al, 2019) Serpentine flux path MRB, (Senkal, Gurocak, 2010) 5 NÁm compact MRC, (Kikuchi et al, 2010) 40 NÁm compact MRC, (Kikuchi et al, 2010) MRB for RMRA, (Ma et al, 2017) Type clutches were obtained but for the sake of brevity are not presented.…”

Section: Experimental Validationssupporting

confidence: 78%

“…Torque-to-weight versus wire current density for MR clutches and MR brakes: (a) fifth joint MRC for 5-DOF robot; (b) third joint MRC for 5-DOF robot; (c) second joint MRC for 5-DOF robot; (d) Hollowed M.-Drum MRB (Qin et al, 2019); (e) Serpentine flux path MRB (Senkal and Gurocak, 2010); (f) 5 N·m compact MRC (Kikuchi et al, 2010); (g) 40 N·m compact MRC (Kikuchi et al, 2010); (h) MRB for RMRA, (Ma et al, 2017). …”

Section: Comparison Of the Different Mr Clutches Reported In The Literaturementioning

confidence: 99%

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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: Experimental Validationssupporting

confidence: 78%

Section: Comparison Of the Different Mr Clutches Reported In The Literaturementioning

confidence: 99%

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

Pisetskiy

Kermani

2021

Journal of Intelligent Material Systems and Structures

View full text Add to dashboard Cite

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“…At this time, a small torque is produced by the viscosity of the MR fluid. However, once the coil is energized, the MR fluid is converted to a solid-like state instantly [42], [43]. The total torque T is the sum of the field-induced torque T B and viscous torque T η [24], [44]…”

Section: B Force Feedback Devicementioning

confidence: 99%

Development and Control of an MR Brake-Based Passive Force Feedback Data Glove

Wang

Pang

et al. 2019

IEEE Access

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This paper presents the development and feedback force control of a safe, lightweight, yet powerful, and stable passive force feedback data glove (FFDG), utilizing a disc-type magnetorheological (MR) brake as the force feedback device. Firstly, a detailed illustration of the mechanical design of the FFDG, including transmission structure, MR brake, and angle measuring mechanism, is presented. Then, to achieve a precise feedback force control, the design and modelling of a current controller based on the buck circuit are carried out. This is followed by the tracking control of the feedback force, using conventional PID and adaptive fuzzy-PID control schemes. The control effect of the two methods is evaluated and compared through simulations. Finally, an experimental set-up is established, and a series of experiments are carried out on both the manufactured MR brake and the FFDG prototype. The results verify the feasibility and stability of the developed FFDG, and demonstrate that the feedback force tracking accuracy of the adaptive fuzzy-PID controller is satisfactory.

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“…Among many applications of MRF, magnetorheological brake (MRB) interests many researchers, especially in force feedback systems. There have been numerous researches on improving performance of MRB with different configurations such as: disc-type MRB (An and Kwon, 2003;Li and Du, 2003;Liu et al, 2006, Park et al, 2006, drum-type MRBs (Huang et al, 2002;Smith et al, 2007), hybrid-type MRB with T-shaped rotor (Nguyen et al, 2012;Qin et al, 2019), etc. In order to compare performance of the above, Nguyen et al (2011) conducted optimal design of different types of MRB in which the objective is to maximize braking torque while the MRB size is constrained in a specific volume.…”

Section: Introductionmentioning

confidence: 99%

Design and investigation of a novel magnetorheological brake with coils directly placed on side housings using a separating thin wall

Nguyễn

Nguyen

Hiep

et al. 2021

Journal of Intelligent Material Systems and Structures

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This research focuses on a new design to facilitate the manufacturing and improve performance of magneto-rheological brake (MRB). In this proposed MRB, the coils are directly placed on inner part of the side housing of the MRB and separated with the working MR fluid by a thin wall. The coils are then covered by the outer part of side housing to form a closed magnetic circuit. With this configuration, the coils do not directly contact with the MRF therefore a very small MRF gap size can be archived. In addition, the coils can be assembled and disassembled in the housing without separating the inner parts of the housing out of the disc. This makes a lot of convenience in fabrication, testing and maintenance of the MRB. After a review of MRB development, configuration of the proposed MRB is presented. Braking torque of the proposed MRB is then derived based on Bingham-plastic rheological model of MRF. Based on finite element analysis, optimal design of the proposed MRB is then conducted. The results are then compared with other types of MRB to figure out the advanced performance characteristics of the proposed one. In order to validate simulated results, prototypes of the proposed MRBs are manufactured and experimental works are then conducted.

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Performance Evaluation of a Hollowed Multi-Drum Magnetorheological Brake Based on Finite Element Analysis Considering Hollow Casing Radius

Cited by 15 publications

References 26 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

Development and Control of an MR Brake-Based Passive Force Feedback Data Glove

Design and investigation of a novel magnetorheological brake with coils directly placed on side housings using a separating thin wall

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