Compact Advanced Hybrid Actuators Using Electro-Rheological Fluids

该项目的目标是设计、制造、控制和测试新型轻质致动器，这些致动器将能够施加大的力，并使用紧凑的机构实现大位移。提出的新型驱动装置概念是基于电流变流体（ERF）和电磁驱动概念的混合组合。提出的新一类驱动装置被称为ECFS（电控力和刚度）执行器。研究了由ECFS作动器驱动的紧凑移动关节的设计、制造和控制。将进行广泛的测试，以证明ECFS执行器的有效性。此外，还将研究使用ECFS致动器为力反馈设备和触觉接口的关节提供动力的可能性。该项目的广泛影响和推广活动是：a)启动本科生的研究；b)与新泽西州的科技高中建立工程设计和机器人系统的合作项目，以吸引该领域的新学生；c)在一年一度的美国机械工程师协会（ASME）国际机械工程大会和博览会（IMECE）上组织一次特别会议，并在一期《IEEE / ASME机电一体化学报》（IEEE / ASME Transactions on Mechatronics）上组织一个关于高级执行器的设计、建模和控制的重点部分；d)开发和维护一个关于基于ERF的设备的网页；e)建立先进执行机构领域的国际协作活动。

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.