Low inertia torque controllable device using magnetorheological fluid &amp; umbrella-shaped rotor

Kikuchi, Takehito; Abe, Isao

doi:10.1088/2631-8695/ab4ecf

Cited by 4 publications

(6 citation statements)

References 12 publications

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“…We developed two types of H-MRCs (2N m Class and 0.6N m Class) based on the multi-layered disc structure (Kikuchi et al, 2010) and an optimal design method (Kikuchi and Abe 2019) proposed in previous articles. The 2Nm-Class H-MRC (Figure 1) was developed for large-scale haptic devices.…”

Section: Multi-layered Disc-type H-mrcmentioning

confidence: 99%

“…Each mark shows the average torque for each condition. The white marks show the simulated torque using the calculation model mentioned in the previous work (Kikuchi and Abe, 2019). The black marks show the experimental results.…”

Section: Comparison Of Three Types Of Mrfs On Haptic Mrcmentioning

confidence: 99%

“…However, its direct torque is generally small. In our previous study (Kikuchi and Abe, 2019), we established an optimal design method for the multi-layered disc-type MRF device and developed a high-performance MRF clutch whose torque-to-inertia ratio was around 40,000 N m/kg m 2 , which is several times that of conventional MRF devices and at the same level as the coreless motors for haptic devices. In addition, the maximum direct torque is from several tenfold to several hundredfold more than the coreless motors.…”

Section: Td-mrasmentioning

confidence: 99%

“…To solve these problems, we used a single lip seal made of fluorocarbon polymer (#31612A; Starlite Co., Ltd.; Figure 1, left). In a previous report (Kikuchi and Abe, 2019), we used this lip seal in an MRF-based torque-controllable device using an umbrella-shaped rotor and successfully reduced the friction torque.…”

Section: Multi-layered Disc-type H-mrcmentioning

confidence: 99%

“…However, their work is limited to a single rotor structure. We conducted an optimal design for the MRF device with a multi-layered disc structure (Kikuchi and Abe, 2019). For the optimal design in our study, we focused on maximizing the maximum-to-minimum torque ratio under the restriction of a compact servo-amplifier as an easily obtainable current amplifier.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Twin-driven actuator with multi-layered disc magnetorheological fluid clutches for haptics

Kikuchi

Abe

Nagata

et al. 2020

Journal of Intelligent Material Systems and Structures

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Magnetorheological fluids are composite materials made of ferromagnetic particles, medium oils, and several types of additives. We have developed actuation systems for the fine haptic control of master–slave robots. In this study, we proposed a new structure of a magnetorheological fluid–based actuator suitable for haptic devices. For the basic structure of the actuator, we proposed a twin-driven magnetorheological fluid actuator using two multi-layered disc-type magnetorheological fluid clutches for haptics. We conducted performance measures for the magnetorheological fluid clutches for haptics with three commercially available magnetorheological fluids (i.e. 122EG, 132DG, and 140CG from Lord Corp.). The experimental results show that 132DG is a better material for force control. Then, we proposed two types of twin-driven magnetorheological fluid actuators (i.e. link type and belt type) and compared their performance. The results show that the averages of the time constant are 19.1 and 16.1 ms for the link type and belt type, respectively. Furthermore, the averages of torque error are 0.033 and 0.068 N m for the link type and belt type, respectively. However, the belt-type twin-driven magnetorheological fluid actuator is better if a large range of motion is required, while the link-type twin-driven magnetorheological fluid actuator is better if accurate torque control is required.

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Section: Multi-layered Disc-type H-mrcmentioning

confidence: 99%

Section: Comparison Of Three Types Of Mrfs On Haptic Mrcmentioning

confidence: 99%

Section: Td-mrasmentioning

confidence: 99%

Section: Multi-layered Disc-type H-mrcmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Twin-driven actuator with multi-layered disc magnetorheological fluid clutches for haptics

Kikuchi

Abe

Nagata

et al. 2020

Journal of Intelligent Material Systems and Structures

Self Cite

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A review on design and modelling methods of magnetic circuit cores for MR elastomers and MR fluids based system

Do,

Choi

2024

Smart Mater. Struct.

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In this review article, different structural types of the magnetic core required for activation of magnetorheological elastomer (MRE) and magnetorheological fluid (MRF) are introduced in terms of design feature, magnetic flux analysis and performance, installation with primary structure and close relationship to material types. As a first step, dynamic functions related to the chosen models are summarized and discussed according to the magnetic field variations including the field-dependent damping force and torque of the application systems. To address on the practical feasibility, main issues of design process are also pointed out and are discussed stating the manufacturing feasibility and the scaled factors of dynamic variables. Then, after analysing the featured models and dynamic functions, the derivation approaches to establish mathematical models of the magnetic circuit core are provided and compared as a valuable reference for checking both simplicity and accuracy. In this stage, the chosen symbolized magnetic circuit models are clearly described about linear or/and nonlinear behaviours of the input (current) and output (magnetic field). In addition, a couple of commercial software to design the magnetic circuit model is introduced since they can be effectively adopted to analyse the magnetic circuit cores of many application systems utilizing MRE and MRF without any difficulty.

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Improvement of Haptic Interface for Teleoperation Endoscopic Surgery Simulators Using Magnetorheological Fluid Devices

Takano¹,

Ikeda²,

Abe³

et al. 2022

JRM

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A magnetorheological (MR) fluid is a composite material comprising ferromagnetic particles, medium oils, and several types of additives. We developed an MR fluid clutch for haptics (H-MRC) and installed it in a haptic interface that simulates teleoperation endoscopic surgery (ES). To enhance its operability, we redesigned the H-MRC to reduce its weight and improve its control system. We reduced the weight of the H-MRC and haptic gripper by 77.0 g and 137.0 g, respectively. To evaluate the influence of the improvement and force feedback functions on remote operation skills, we conducted pick-and-place tests with a remotely controlled system. In the tests, we subjectively evaluated the NASA-TLX and quantitatively evaluated the success rate of the task. The results of the subjective assessment showed significant reductions in mental stress during the teleoperation task. In addition, the results of the quantitative evaluation showed that the force feedback function was effective against the teleoperation skills of the operators.

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Low inertia torque controllable device using magnetorheological fluid & umbrella-shaped rotor

Cited by 4 publications

References 12 publications

Twin-driven actuator with multi-layered disc magnetorheological fluid clutches for haptics

Twin-driven actuator with multi-layered disc magnetorheological fluid clutches for haptics

A review on design and modelling methods of magnetic circuit cores for MR elastomers and MR fluids based system

Improvement of Haptic Interface for Teleoperation Endoscopic Surgery Simulators Using Magnetorheological Fluid Devices

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