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

提出了一种新的磁流变液驱动技术(简称MR执行器)。该执行器由一个充满磁流变液的离合器状机构组成。离合器传递从一个源(如电机)接收到的扭矩。磁流变液的粘度是通过电磁铁线圈的磁场来精确调节传递的扭矩来改变的。未来的机器人和自动化系统需要能够在不同的环境中安全可靠地工作，并执行繁重和精细的任务。现有的执行器要么是刚性的、精确的但不安全的，要么是柔软的、柔顺的但不准确的。但是，许多任务都需要高精度和合规性。为了实现这一点，机器人可以配备额外的传感器和相当复杂的控制系统，以模仿软执行器的行为。然而，这样的解决方案昂贵，可靠性较低，并且在施力方面缺乏所需的精度。我们建议的解决方案允许将磁流变液的柔软性(顺应性)与非常高的精度驱动相结合。可以使用多个磁流变液离合器来分配从单个主动源(例如，电机)接收到的扭矩。这意味着可以同时启动彼此不同位置上的多个负载以及电机上的多个负载。这为安全机构的设计提供了极大的灵活性，而不影响驱动性能。我们的创新技术有助于降低碰撞造成的伤害和设备损坏的风险，并将简化和提高在处理复杂部件和软材料时需要高精度外力的制造操作的质量。通过适当的合作，所产生的系统将是第一个在快速增长的人类友好型和先进机器人领域实现商业化的系统。这将有利于加拿大机器人研究和制造自动化的进步。

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.