Mathematic Modeling and Optimal Design of a Magneto-Rheological Clutch for the Compliant Actuator in Physical Robot Interactions

Chen, Guangzeng; Lou, Yunjiang; Shang, Tongyi

doi:10.1109/lra.2019.2928766

Cited by 13 publications

(5 citation statements)

References 20 publications

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“…Controllable mechanical behaviors of smart actuators based on magnetorheological (MR) fluids are the essential properties for their extensively applications/investigations, such as vibration and shock control of vehicle and seat suspension systems [1][2][3][4][5][6][7], anti-quake civil structures [8][9][10], torque transmission actuators [11,12], medical instruments [13,14], and robotic end effectors [15,16]. Description and prediction of the inherent strong nonlinear hysteretic characteristics of MR actuators are one of the core topics in the MR field.…”

Section: Introductionmentioning

confidence: 99%

Precise real-time hysteretic force tracking of magnetorheological damper

Bai¹,

Li²

2020

Smart Mater. Struct.

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Precise and real-time nonlinear hysteresis model of magnetorheological (MR) dampers is the premise to efficient control of MR semi-active systems. The influence of hysteresis models of MR damper on the control performance of the systems, employing a quarter-car MR semi-active suspension as an example, is studied thoroughly in this paper. Specifically, the hysteretic mechanical behavior of MR damper is precisely described, and the real-time feedforward control force tracking of MR damper is conducted, based on the resistor-capacitor (RC) operator-based hysteresis model. In addition, the dynamic model of a quarter-car MR semi-active suspension system is established, and a linear quadratic regulator controller and a Skyhook controller are correspondingly designed. The experimental tests, comparison, and analysis of MR damper utilizing the RC operator-based hysteresis model and the Bingham hysteresis model are carried out with the self-developed prototype of the quarter-car suspension system.

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Section: Introductionmentioning

confidence: 99%

Precise real-time hysteretic force tracking of magnetorheological damper

Bai¹,

Li²

2020

Smart Mater. Struct.

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“…The MR clutch has a multi-disk configuration and is assembled in a modular unit with hollow iron core to reduce weight, as shown in Figure 4. These configurations produce desirable characteristics such as high torque-to-weight ratio and compactness (Chen et al, 2019; de Andrade et al, 2021). The side disks are fixed in the iron core, and the input disks are attached to the insulation layer (shades of green), that is coupled to the iron core, and the output disks are fixed in the aluminum cover (shades of blue).…”

Section: Powertrain Designmentioning

confidence: 99%

Design and testing a highly backdrivable and kinematic compatible magneto-rheological knee exoskeleton

Andrade

Ulhoa

Dias

et al. 2022

Journal of Intelligent Material Systems and Structures

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Lower limb exoskeletons (LLE) have been successfully used in robotic-assisted rehabilitation to reduce the burden of locomotor impairment of disabled people. However, the design limitations of LLE mechanisms, such as the lack of kinematic compatibility relative to the user’s joints and the use of high stiff or heavy actuators, limit the outcomes of treatment and increase the risk of injury. To address these shortcomings, in this work we present the design of the MRKneeExo, a highly backdrivable and kinematically compatible active knee exoskeleton. The powertrain of the system is composed of a BLDC 70 W motor associated with a harmonic drive gearbox and a customized magneto-rheological (MR) clutch. To improve kinematic compatibility with the user’s knee, a crossed four-bar linkage mechanism (FBLM) was optimally designed to follow the trajectory of the instant center of rotation (ICR) of the knee projected in the parasagittal plane where the joint is placed. The MR clutch is used to decouple the motor-reducer from the FBLM, thus enabling high backdrivability. The results showed a small error (<3 mm) between the FBLM and the knee ICR. Furthermore, the MR clutch allowed for low back-drive torque (1.28 N m) compared to the torque to back-drive the motor-reducer (18.51 N m). This paper is presented in a framework that can be generalized to support the design of other knee exoskeletons.

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“…Pisetskiy and Kermani [15] developed several MR clutches with multilayered disks, and the designed second joint MR clutch offers the highest torque-to-weight ratio. Chen et al [16] studied a new mathematic and multidisciplinary modeling method of an inner coil multi-disc type MR clutch for robot joints. Rizzo et al [17] presented an electrodynamic/MRF-based clutch activated using permanent magnets.…”

Section: Introductionmentioning

confidence: 99%

Development and evaluation of a magnetorheological fluid-based clutch with hybrid excitation

Wu,

Huang,

Xie

2023

Smart Mater. Struct.

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This article presents the development and control of a hybrid excitation magnetorheological (MR) fluid clutch with improved magnetic core. The clutch adopts a hybrid excitation design with coils and permanent magnets. To obtain an increased torque, an improved magnetic core shape of the permanent magnets is adopted in the clutch. Furthermore, simulation is used to test the magnetic field in the fluid gaps. Then, a prototype is manufactured, and a test bed is built. Experiments prove that the designed hybrid excitation MR clutch has an improved torque. In order to achieve accurate torque output, a genetic algorithm (GA) optimized fuzzy PID controller is presented and compared with the other two controllers, and the effectiveness is verified by simulations and experiments. It turns out that the proposed GA optimized fuzzy PID controller is effective in improving the torque tracking accuracy and can be used for torque control of MR clutches.

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Mathematic Modeling and Optimal Design of a Magneto-Rheological Clutch for the Compliant Actuator in Physical Robot Interactions

Cited by 13 publications

References 20 publications

Precise real-time hysteretic force tracking of magnetorheological damper

Precise real-time hysteretic force tracking of magnetorheological damper

Design and testing a highly backdrivable and kinematic compatible magneto-rheological knee exoskeleton

Development and evaluation of a magnetorheological fluid-based clutch with hybrid excitation

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