Development and characterization of a magnetorheological elastomer based adaptive seismic isolator

Li, Yancheng; Li, Jianchun; Li, Weihua; Samali, Bijan

doi:10.1088/0964-1726/22/3/035005

Cited by 219 publications

(262 citation statements)

References 39 publications

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“…Again, these plots follow clockwise loading paths as illustrated by the arrows on the figures. As was the case in the torsional tests, consistent with the rheological behavior of MRE [33], in Fig. 10 it can be seen that as displacement amplitude increases, there is some degree of softening or decrease in stiffness.…”

Section: Fig 8 Stiffness Variation Of the Leg Under Different Currensupporting

confidence: 79%

A torsional MRE joint for a C-shaped robotic leg

Christie

Sun

Ning

et al. 2016

Smart Mater. Struct.

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Serving to improve stability and energy efficiency during locomotion, in nature, animals modulate their leg stiffness to adapt to their terrain. Now incorporated into many locomotive robot designs, such compliance control can enable disturbance rejection and improved transition between changing ground conditions. This paper presents a novel design of a variable stiffness leg utilizing a magnetorheological elastomer joint in a literal rolling spring loaded inverted pendulum (R-SLIP) morphology. Through the semi-active control of this hybrid permanent-magnet and coil design, variable stiffness is realized, offering a design which is capable of both softening and stiffening in an adaptive sort of way, with a maximum stiffness change of 48.0%. Experimental characterization first serves to assess the stiffness variation capacity of the torsional joint, and through later comparison with force testing of the leg, the linear stiffness is characterized with the R-SLIP-like behavior of the leg being demonstrated. Through the force relationships applied, a generalized relationship for determining linear stiffness based on joint rotation angle is also proposed, further aiding experimental validation. Disciplines Engineering | Science and Technology Studies AbstractServing to improve stability and energy efficiency during locomotion, in nature, animals modulate their leg stiffness to adapt to their terrain. Now incorporated into many locomotive robot designs, such compliance control can enable disturbance rejection and improved transition between changing ground conditions. This paper presents a novel design of a variable stiffness leg utilizing a magnetorheological elastomer joint in a literal R-SLIP (Rolling Spring Loaded Inverted Pendulum) morphology. Through the semi-active control of this hybrid permanent-magnet and coil design, variable stiffness is realized, offering a design which is capable of both softening and stiffening in an adaptive sort of way, with a maximum stiffness change of 48.0%. Experimental characterization first serves to assess the stiffness variation capacity of the torsional joint, and through later comparison with force testing of the leg, the linear stiffness is characterized with the R-SLIP-like behavior of the leg being demonstrated. Through the force relationships applied, a generalized relationship for determining linear stiffness based on joint rotation angle is also proposed, further aiding experimental validation.

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Section: Fig 8 Stiffness Variation Of the Leg Under Different Currensupporting

confidence: 79%

A torsional MRE joint for a C-shaped robotic leg

Christie

Sun

Ning

et al. 2016

Smart Mater. Struct.

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“…Li, et al. designed and fabricated an adaptive MRE seismic isolator which achieves a significant adjustable range of lateral stiffness under a medium level of magnetic field [20]. The designed MRE seismic isolator outperforms the traditional seismic isolator in terms of the effectiveness and functionality for the seismic protection of civil structures.…”

Section: Introductionmentioning

confidence: 99%

Experimental study and modeling of a novel magnetorheological elastomer isolator

Yang

et al. 2013

Smart Mater. Struct.

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This paper reports an experimental setup aiming at evaluating the performance of a newly designed magnetorheological elastomer (MRE) seismic isolator. As a further effort to explore the field-dependent stiffness/damping properties of the MRE isolator, a series of experimental testing were conducted. Based upon the analysis of the experimental responses and the characteristics of the MRE isolator, a new model that is capable of reproducing the unique MRE isolator dynamics behaviors is proposed. The validation results verify the model's effectiveness to portray the MRE isolator. A study on the field-dependent parameters is then provided to make the model valid with fluctuating magnetic fields. To fully explore the mechanism of the proposed model, an investigation relating the dependence of the proposed model on every parameter is carried out. AbstractThis paper reports an experimental setup aiming at evaluating the performance of a newly designed magnetorheological elastomer (MRE) seismic isolator. As a further effort to explore the field-dependent stiffness/damping properties of the MRE isolator, a series of experimental testing were conducted. Upon on the analysis of the experimental responses and the characteristics of the MRE isolator, a new model that is capable of reproducing the unique MRE isolator dynamics behaviors is proposed. The validation results verify the model's effectiveness to portray the MRE isolator. A study on the field-dependent parameters is then provided to make the model valid with fluctuating magnetic fields. To fully explore the mechanism of the proposed model, an investigation relating the dependence of the proposed model on every parameter is carried out.

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“…So far, several MRE-based isolation devices have been proposed [18][19][20][21][22][23][24][25][26][27][28]. Most of the proposed MRE-based base isolators utilized silicone rubber that cures at room temperature conditions without any special equipment.…”

Section: Introductionmentioning

confidence: 99%

Fabrication and Characterization of Natural Rubber‐Based Magnetorheological Elastomers at Large Strain for Base Isolators

Lee

Kim

Jung

2018

Shock and Vibration

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To withstand harsh conditions and have a moderate strength, it is desirable to use natural rubber for base isolators. In addition, previous studies have measured the magnetorheological (MR) effect under low-strain range, mostly within 10%. In the reality, it is necessary to evaluate the performance under large-strain range for base isolators. In this study, material properties of natural rubberbased MREs with various mixing ratios were evaluated under large-strain range (∼100%). In the first step, MREs with various iron ratios were fabricated and evaluated to observe the MR effect according to the ratio and arrangement of iron powder. As a result, the highest MR effect (22.0% at 100% strain) and damping ratio (10.29%) were observed in the sample with 35% iron ratio, and the MR effect of the isotropic and the anisotropic MRE did not show significant difference under large-strain (50∼100%). In the second step, MRE samples containing the optimum iron ratio (investigated in the first step) and various mixing ratios of carbon black and naphthenic oil were prepared. As a result, the MRE containing 60phr of carbon black and 40phr of naphthenic oil had the highest MR effect (33.8% at 100% strain). Compared to the case without additives, it showed an obvious improvement.

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Development and characterization of a magnetorheological elastomer based adaptive seismic isolator

Cited by 219 publications

References 39 publications

A torsional MRE joint for a C-shaped robotic leg

A torsional MRE joint for a C-shaped robotic leg

Experimental study and modeling of a novel magnetorheological elastomer isolator

Fabrication and Characterization of Natural Rubber‐Based Magnetorheological Elastomers at Large Strain for Base Isolators

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