L2M NSERC - Actuation Mechanisms Based on Magneto-Rheological (MR) Fluids

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An new actuation technology using Magneto-Rheological (MR) fluid (MR actuator for short) is proposed. The proposed actuator consists of a clutch-like mechanism filled with MR fluids. The clutch transmits the torque received from a source (such as an electric motor). The viscosity of the MR fluid is changed using the magnetic field of an electromagnet coil to regulate the transmitted torque precisely.Robots and automated systems of the future need the ability to safely and reliably work in different environments and perform both heavy and delicate tasks. Existing actuators are either rigid and precise but unsafe, or soft and compliant but inaccurate. But, many tasks require both high precision and compliance. To achieve this robots can be equipped with additional sensors and a rather sophisticated control system to mimic the behavior of a soft actuator. However, such solutions are expensive, have less reliability, and lack the required precision in applied forces. Our proposed solution allows combining softness (compliance) of MR fluid with very high precision actuation. Multiple MR clutches can be used to distribute the torque received from a single active source (e.g., electric motor). This means multiple loads at different locations with respect to each other and to the electric motor can be actuated at the same time. This provides significant flexibility in the design of safe mechanisms without compromising the actuation performance.Our innovative technology help reduce the risks of injures and equipment damage due to collisions and will simplify and improve the quality of the manufacturing operations that need high precision of the applied force while dealing with intricate parts and soft materials. Through appropriate partnership, the resulting systems will be the first of its kind to be commercialized in the rapidly growing field of human-friendly and advanced robots. This would benefit the progress of the robotics research and manufacturing automation in Canada.