On the Feasibility and Suitability of MR Fluid Clutches in Human-Friendly Manipulators

Shafer, Alexander S.; Kermani, Mehrdad R.

doi:10.1109/tmech.2010.2074210

Cited by 113 publications

(54 citation statements)

References 26 publications

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“…MR fluids change their viscosity in response to change in strength of magnetic field when subjected to the same [1]. MR fluids have been applied in brakes [2,3], clutches [4,5], shock absorbers [6,7], valves [8], and so on. SMAs may undergo mechanical shape changes at relatively low temperatures and retain them until heated, then coming back to the initial shape [9].…”

Section: Introductionmentioning

confidence: 99%

Model of Torque in Disc-Type Magnetorheological Brake Driven by Shape Memory Alloy

Ma¹,

Zhao²,

Tian³

2017

Proceedings of the 2017 2nd International Conference on Electrical, Automation and Mechanical Engineering (EAME 2017)

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Abstract-A magnetorheological brake driven by shape memory alloy is presented in this paper. The shape memory alloy spring is used to push the magnetorheological fluid into the working gap under thermal effect. Herschel-Bulkley model is used to describe the constitutive characteristics of magnetorheological fluids subject to an applied magnetic field. The braking torque developed by magnetorheological fluid is derived to evaluate the braking performance. The results indicate that, the braking torque changes rapidly according to strength of applied magnetic field.

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Section: Introductionmentioning

confidence: 99%

Model of Torque in Disc-Type Magnetorheological Brake Driven by Shape Memory Alloy

Ma¹,

Zhao²,

Tian³

2017

Proceedings of the 2017 2nd International Conference on Electrical, Automation and Mechanical Engineering (EAME 2017)

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“…Moreover, the transition process is characterized by an instant and reversible response, easy and precise control, as well as low-energy consumption [10][11][12]. As a consequence, MRFs have been widely used in many energy absorption and precise control applications, such as vibration dampers, shock absorbers, servo valves, clutches, brakes and polishing devices [13][14][15][16][17][18][19][20][21].…”

Section: Introductionmentioning

confidence: 99%

Influence Factor on Magnetization Property of Carbonyl Iron-based Magnetorheological Fluids

Wang¹,

Zi²,

Qian³

et al. 2016

Journal of Magnetics

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Magnetization property is a critical factor for magnetorheological fluids (MRFs) to achieve the liquid-solid transition. The main focus of this study is on exploring the influence factors on magnetization properties of MRFs. In this paper, a theoretical analysis is performed to discuss the magnetization characteristics of MRFs firstly. Then, a method for the preparation of carbonyl iron-based MRFs is illustrated and five MRFs samples with various material parameters are prepared. It is succeeded by a series of experiments on testing the hysteresis loop and the magnetization curve of each sample and the influence factors are compared and analyzed. Experimental results indicate that there is basically no hysteresis phenomenon on MRFs which exhibits superparamagnetic behavior at room temperature. A surfactant coating on magnetic particles can slightly improve the MRFs magnetization. Additionally, the magnetic susceptibility and the saturation magnetization both increase with the particle concentration, whereas the influence of particle diameter is relatively very small. Moreover, as the temperature increases, the magnetization decreases and the declining rate accelerates gradually.

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“…If robots are subjected to strong force by any accidents, they have possibility of hurting people around. Then, passive actuators have been researeched [3], [4], [5], [6], [7], [8], [9], [10], [11], [12]. Compared to active actuators such as electorical motors, passive actuators generates force only when they are subjected to external force.…”

Section: Introductionmentioning

confidence: 99%

Robust motion control of MR-fluid actuator based on disturbance observer

Miura

Katsura

2013

2013 IEEE International Conference on Mechatronics (ICM)

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Recently, interactions between humans and robots have been changed in order to solve the problems of the aged society. Opportunities that robots touch directly on humans have been increasing. However, active actuators are often used in order to generate force and perform their tasks and they have possibility of hurting people around. Then, stable passive actuators would be substituted for active ones. Passive actuators will not generate force by themselves. Only when external force acts on them, they generate resisitive force. Considering these properties, passive actuators are stable actuators and appropriate for the human society because they would be little risks for humans when they are loss of control. In this paper, the passive actuator is constructed using magnethorheological (MR) fluids and is nominalized based on disturbance observer in order to become robust for inner state of MR fluid and to be regarded as an active actuator. By experiments, the validity of the proposed method is verified.

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On the Feasibility and Suitability of MR Fluid Clutches in Human-Friendly Manipulators

Cited by 113 publications

References 26 publications

Model of Torque in Disc-Type Magnetorheological Brake Driven by Shape Memory Alloy

Model of Torque in Disc-Type Magnetorheological Brake Driven by Shape Memory Alloy

Influence Factor on Magnetization Property of Carbonyl Iron-based Magnetorheological Fluids

Robust motion control of MR-fluid actuator based on disturbance observer

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