Design and development of a hybrid Magneto-Rheological clutch for safe robotic applications
Design and development of a hybrid Magneto-Rheological clutch for safe robotic applications
复制标题
设计和开发用于安全机器人应用的混合磁流变离合器
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
M. Kermani
中科院分区：
文献类型：
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作者：
Masoud Moghani;M. Kermani
在本文中，我们提出了一个新的概念，用于产生磁场的磁流变（MR）离合器的安全机器人应用。这一概念背后的主要原理是使用电磁线圈和永磁体将磁场产生分为两部分。永磁体在MR离合器的最佳工作点处产生偏置磁场密度，而通电线圈可以将磁场增加或抵消到期望值。结果表明，这种概念在减少MR离合器的总重量，提高扭矩质量比，并减少电力消耗的明显优势。所提出的概念进行了验证，使用计算机模型的MR离合器和有限元方法（FEM）被雇用的MR离合器与传统的线圈为基础的离合器的特性进行比较。实验结果将提供进一步验证所提出的新概念的优点。
In this paper, we present a new concept for generating magnetic field in Magneto-Rheological (MR) clutches intended for safe robotic applications. The main rationale behind this concept is to divide the magnetic field generation into two parts using an electromagnetic coil and a permanent magnet. The permanent magnet generates a bias magnetic field density at the optimum working point of the MR clutch while the energized coil can add or negate the magnetic field to a desired value. The results will show clear advantages of this concept in reducing the total weight of the MR clutch, improving the torque-to-mass ratio, and reducing electrical power consumption. The proposed concept is validated using computer model of an MR clutch and Finite Element Method (FEM) is hired to compare the characteristics of the proposed MR clutch with those from conventional coil based clutch. Experimental results will be provided to further validate the advantages of the proposed new concept.