A novel magnetorheological damper based parallel planar manipulator design

Abstract

This paper presents a novel parallel planar robot design which is low cost and simple in structure. The design addresses some of the problems, such as concentration of excessive load on the links and joints, due to wrong commanding signals being given by the controller. In this application two of the conventional actuators are replaced by magnetorheological (MR) dampers, and only one actuator is used to generate motion. The design paradigm is based on the concept that a moving object 'intuitively' follows the path with minimum resistance to its motion. This implies that virtual adoptable constraints can be used effectively to define motion trajectories. In fact, motion generation and adaptive constraints are two elements essential to implementing this strategy. In this paper, MR dampers are used to provide adjustable constraints and to guide the platform that is moved by the linear motor. The model of the MR dampers is derived using the Bouc-Wen model. This model is then used for manipulator simulation and controller design. Two controllers are developed for this manipulator: (1) a closed loop on/off one and (2) a proportional-derivative controller. Also, three different trajectories are defined and used for both the simulations and experiments. The results indicate a good agreement between the simulations and experiments. The experimental results also demonstrate the capability of the manipulator for following sophisticated trajectories.

Mathematical model of a novel small magnetorheological damper by using outer magnetic field

“…For example, magneto-rheological fluid was used in the damper, [1][2][3][4] which has good smart damping characteristics and can realize active control by the magnetic field driven by current. It has been widely applied in vibration control aspects such as aerospace, mechanical and civil engineering structure.…”

Low‐force magneto‐rheological damper design for small‐scale structural control

“…The expulsion behavior of scale MR dampers has demonstrated similar nonlinear hysteretic characteristics when compared with full-scale commercial MR dampers. [36,38] The controllable force range of typical expulsion devices exists between 50 and 150 N. [36,38,39] Although the force range provided by the polyurethane foam MR-fluid expulsion-type dampers is closer to the desired level for performing small-scale control experiments, work by Hoyle et al [40] has been done to lower the controllable damping levels of foam-type MR-fluid devices to between 20 and 50 N for use in adjusting actuator piston constraints. Also, Yi et al [41] have successfully used a non-annular volume MR fluid saturated foam in structural control tests and were able to reliably produce a controllable force range between 5 and 25 N.…”

Design of a Magnetorheological Damper-Based Haptic Interface for Rehabilitation Applications

“…MR-dampers can only generate resistive (not actuation) forces in a simple structure (Shen, 2005). In addition, MR-dampers are less expensive compared to linear motor and will last long (Bogdan and Maciej, 2007;Hoyle et al, 2010). Rizzo et al (2007) introduced a 2-D and quasi-3-D MRF-based devices to build shapes that can be directly felt and explored by hand.…”

“…Rizzo et al (2007) introduced a 2-D and quasi-3-D MRF-based devices to build shapes that can be directly felt and explored by hand. Hoyle et al (2010) developed an MR-damper-based parallel planar robot. Ahmadkhanlou et al (2005Ahmadkhanlou et al ( , 2008) have proposed a system capable of performing surgical operations and also developed a 5-DOF MR-based serial robotic arm that is used to control a remote 5-DOF robot (the slave).…”