A Semi-Active, High-Torque, Magnetorheological Fluid Limited Slip Differential Clutch

Kavlicoglu, Barkan M.; Gordaninejad, Faramarz; Evrensel, Cahit A.; Fuchs, Alan; Korol, George

doi:10.1115/1.2203308

Cited by 53 publications

(35 citation statements)

References 5 publications

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“…With the desired force signals from the force sensor installed on the slave, the repulsive forces ðQ 1 , Q 2 , Q 3 Þ at the gripper can be obtained from equations (12), (15), (16), and (17). Then, repulsive force that the surgeon feels is specified as F out ¼ ffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ffi Q 2 2 þ Q 2 3 q (Q 1 is ignored due to the lack of translational motion of the master) and desired output as…”

Section: Controller Formulationmentioning

confidence: 99%

Repulsive force control of minimally invasive surgery robot associated with three degrees of freedom electrorheological fluid-based haptic master

Lee

Uhm

Seong

et al. 2013

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper presents a repulsive force feedback control in a haptic master-slave robot-assisted system for robot minimally invasive surgery. In general, the haptic master can provide position and force information for superior performance and reliability in master-slave robot-assisted interventions for a surgeon. In order to realize this potential, in this work three degrees of freedom electrorheological haptic master is adopted and associated with a four degrees of freedom slave robot. The haptic master featuring controllable electrorheological fluid is featured by a spherical joint mechanism and the slave robot is controlled by servomotors. After designing a user interface that is capable of providing force feedback in all the degrees of freedom available during robot minimally invasive surgery, the dynamic model of the haptic master is analyzed and the model parameters are identified to evaluate control performance of the haptic master on skin-and cancer-like tissues (palpation). Subsequently, the haptic architecture for robot minimally invasive surgery is established and experimentally implemented so that the reflection force for the object of the slave robot and the desired position for the master operator are transferred to each other. In order to demonstrate the effectiveness of the proposed system, repulsive force tracking control performances are evaluated and presented in time domain.

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Section: Controller Formulationmentioning

confidence: 99%

Repulsive force control of minimally invasive surgery robot associated with three degrees of freedom electrorheological fluid-based haptic master

Lee

Uhm

Seong

et al. 2013

Proceedings of the Institution of Mechanical Engineers, Part C:

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show abstract

“…The supply voltage is 12-24 V DC, a maximum supply current of 1.5 A and a coil resistance of 10 . 84,144 Linear devices: General purpose MR Damper RD-8040-1, RD-8041-1, RD-1005-3. The MR Damper RD-8040-1, RD-8041-1, RD-1005-3 are three MRFbased dampers developed by Lord Corporation (Figure 19).…”

Section: Automotive Fieldmentioning

confidence: 99%

Smart materials: Properties, design and mechatronic applications

Spaggiari

Castagnetti

Golinelli

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part L:

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This paper describes the properties and the engineering applications of the smart materials, especially in the mechatronics field. Even though there are several smart materials which all are very interesting from the research perspective, we decide to focus the work on just three of them. The adopted criterion privileges the most promising technologies in terms of commercial applications available on the market, namely: magnetorheological fluids, shape memory alloys and piezoelectric materials. Many semi-active devices such as dampers or brakes or clutches, based on magnetorheological fluids are commercially available; in addition, we can trace several applications of piezo actuators and shape memory-based devices, especially in the field of micro actuations. The work describes the physics behind these three materials and it gives some basic equations to dimension a system based on one of these technologies. The work helps the designer in a first feasibility study for the applications of one of these smart materials inside an industrial context. Moreover, the paper shows a complete survey of the applications of magnetorheological fluids, piezoelectric devices and shape memory alloys that have hit the market, considering industrial, biomedical, civil and automotive field

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“…The clutch produced a maximum output torque of 10 N-m at a speed of 1000 rpm and an input electric current of 8 Amps. Kavlicoglu et al 5 proposed a high torque multi-plate MRF clutch as a prototype limited slip differential clutch that can provide 245 Nm torque for an input current of 3 Amps. In a recent study by Neelakantan et al 6 , a sponge type cylindrical clutch is proposed to eliminate the centrifuging of the iron particles at high rotational speeds …”

Section: Introductionmentioning

confidence: 99%

Study of a magneto-rheological grease (MRG) clutch

2007

Self Cite

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In this study the performance of various magneto-rheological (MR) greases in a clutch is examined. An experimental study is conducted to determine the torque transfer capacity of a double-plate clutch for operating speeds up to 1,200 rpm. Six different MR greases with various particle loadings and particle sizes are evaluated in the clutch. The rheological properties of MR grease with 90% particle loading in weight are compared with a commercially available MR fluid. The torque performance of the MR grease clutch is also compared with that of the clutch using MR fluid . It is demonstrated that, the off-state (no applied magnetic field) torque output of the MR grease clutch is constant regardless of the operating speed. In contrast, the torque capacity of the clutch with MR fluid shows a great dependence on the operating speed. Moreover, it is shown that the iron particle size of the MR grease does not affect the torque output. The MR greases demonstrated up to 75% increase in the torque capacity compared to the commercial MR fluid.

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A Semi-Active, High-Torque, Magnetorheological Fluid Limited Slip Differential Clutch

Cited by 53 publications

References 5 publications

Repulsive force control of minimally invasive surgery robot associated with three degrees of freedom electrorheological fluid-based haptic master

Repulsive force control of minimally invasive surgery robot associated with three degrees of freedom electrorheological fluid-based haptic master

Smart materials: Properties, design and mechatronic applications

Study of a magneto-rheological grease (MRG) clutch

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