Compact Advanced Hybrid Actuators Using Electro-Rheological Fluids

使用电流变液的紧凑型高级混合执行器

• 批准号: 0422720
• 负责人: Constantinos Mavroidis
• 金额: --
• 依托单位: Northeastern University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2004
• 资助国家: 美国
• 起止时间: 2004-01-01 至 2006-03-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0422720&HistoricalAwards=false
• 关键词: Compact; Advanced; Hybrid; Actuators; Using

The goal of this project is the design, fabrication, control and testing of novel, lightweight actuators that will be able to apply large forces and achieve large displacements using compact mechanisms. The proposed concept for novel actuation devices is based on a hybrid combination of Electro-Rheological Fluids (ERF) and electromagnetic actuation concepts. The proposed new class of actuation devices is called ECFS (Electrically Controlled Force and Stiffness) actuators. Design, fabricate and control compact prismatic joints mobilized by ECFS actuators will be studied. Extensive tests will be performed to demonstrate the effectiveness of the ECFS actuators. Furthermore, the possibility of using the ECFS actuators to power the joints of force-feedback devices and haptic interfaces will be investigated. The broader impact and outreach activities of this project are: a) the initiation of undergraduate students in research; b) the establishment of collaborative projects on engineering design and robotic systems with the science and technology high schools of New Jersey with the objective to attract new students in this field; c) the organization of a special session at the annual ASME International Mechanical Engineering Congress and Exposition (IMECE) and of a focused section in one issue of the journal IEEE / ASME Transactions on Mechatronics on the design, modeling and control of advanced actuators; d) the development and maintenance of a webpage on ERF based devices; and e) the establishment of international collaborative activities in the area of advanced actuators.

该项目的目标是设计、制造、控制和测试新型轻型执行器，这些执行器将能够使用紧凑的机构施加大的力并实现大的位移。所提出的新型驱动装置概念基于电流变流体（ERF）和电磁驱动概念的混合组合。拟议的新型致动装置称为 ECFS（电控力和刚度）致动器。将研究由 ECFS 执行器驱动的紧凑棱柱关节的设计、制造和控制。将进行广泛的测试来证明 ECFS 执行器的有效性。此外，还将研究使用 ECFS 执行器为力反馈设备和触觉界面的关节提供动力的可能性。 该项目更广泛的影响和推广活动是： a) 启动本科生研究； b) 与新泽西州科技高中建立工程设计和机器人系统合作项目，以吸引该领域的新生； c) 在年度 ASME 国际机械工程大会暨博览会 (IMECE) 上组织一次特别会议，并在 IEEE / ASME Transactions on Mechatronics 杂志的一期中组织一个关于先进执行器的设计、建模和控制的重点章节； d) 开发和维护基于 ERF 的设备的网页； e) 建立先进执行器领域的国际合作活动。