In the design of a traditional magnetorheological brake (MRB), coils are often placed on the cylindrical housing of the brake. This results in many disadvantages such as a ‘bottle-neck’ problem of magnetic flux. Moreover, in this design a nonmagnetic bobbin is required, and difficulties in manufacturing and maintenance exist. In order to resolve this problem, in this study a new configuration of MRB with coils placed on the side housings of the brake is proposed, optimally designed and experimentally evaluated. After describing an introduction of the proposed configuration, braking torque of the MRB is analyzed based on the Bingham-plastic rheological model of magnetorheological fluid (MRF). The optimization of the proposed and conventional MRBs is then performed considering maximum braking torque and mass of the brakes. In the optimization, both rectangular and polygonal shapes of the brake housing are considered. Based on the optimal results, a comparison of the performance characteristics of the proposed MRB and the conventional one is undertaken. In addition, an experimental test of the MRBs is conducted, and the results are presented in order to validate the performance characteristics of the proposed MRB.
This paper presents a new hybrid controller which is a combination of three control schemes: fuzzy neural control, PI control and sliding mode control. The interval type 2 fuzzy model featuring updated rules via online is used in this study and in order to support the fuzzy model, a granular clustering method is applied to find groups of data related to the initial fuzzy rule. Then the output for fuzzy model is used for the PI-sliding mode controller. The combination of PI and sliding mode controls is carried out by H-infinity technique method which is rely on the modified Riccati-like equation. After developing the mathematical model, the proposed controller is applied to vibration control of a vehicle seat suspension featuring magneto-rheological (MR) damper. In order to demonstrate the effectiveness of the proposed controller, two different excitations of bump and random signals are adopted and corresponding vibration control performances are evaluated. It is demonstrated through both simulation and experiment that the proposed controller can provide much better than vibration control performance compared with the conventional controllers showing more robust stability.
This paper presents the design and control performance of a novel type of 4-degrees-of-freedom (4-DOF) haptic master in cyberspace for a robot-assisted minimally invasive surgery (RMIS) application. By using a controllable magnetorheological (MR) fluid, the proposed haptic master can have a feedback function for a surgical robot. Due to the difficulty in utilizing real human organs in the experiment, the cyberspace that features the virtual object is constructed to evaluate the performance of the haptic master. In order to realize the cyberspace, a volumetric deformable object is represented by a shape-retaining chain-linked (S-chain) model, which is a fast volumetric model and is suitable for real-time applications. In the haptic architecture for an RMIS application, the desired torque and position induced from the virtual object of the cyberspace and the haptic master of real space are transferred to each other. In order to validate the superiority of the proposed master and volumetric model, a tracking control experiment is implemented with a nonhomogenous volumetric cubic object to demonstrate that the proposed model can be utilized in real-time haptic rendering architecture. A proportional-integral-derivative (PID) controller is then designed and empirically implemented to accomplish the desired torque trajectories. It has been verified from the experiment that tracking the control performance for torque trajectories from a virtual slave can be successfully achieved.
Magnetorheological (MR) based semi-active dampers for the protection of sensitive devices against high shock and impact is examined from design considerations to characterization testing. Shock and impact dampers should be able to produce a high damping force at high velocities. However, a specification requiring high damping force generally causes an increase in the size of shock and impact dampers, which motivates the study of MR dampers to retrofit existing or conventional passive shock and impact dampers. A novel MR damper design was developed in this study for achieving both design goals: high force and compactness. The novel MR damper design increases the number of magnetically active volumes through which fluid to passes while minimizing damper length. Through FEM (Finite Element Method) analysis, the magnetic properties of the proposed design are investigated prior to actual fabrication. In addition to the unique magnetic circuit, other considerations stemming from the high pressures and velocities expected in this device are addressed. Characterization testing was performed up to 12 Hz with 1 inch sinusoidal stroke on a servo-hydraulic testing machine. These tests demonstrate that the MR damper is able to provide a high damping force at high velocity.
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