Search Results (16)

Magnetorheological fluids (MRFs) are functional fluids that exhibit rapid and reproducible rheological responses to external magnetic fields. MRFs have been used to develop haptic devices with fine haptic information for teleoperated surgical systems. To achieve this, we developed various compact MRF clutches for haptics and integrated them into a twin-driven MRF actuator (TD-MRA). Several types of TD-MRAs were developed in prior studies. This study used three sets of TD-MRAs to construct a haptic device with a delta-type linkage system that displays a three-dimensional (3D) force vector for users in virtual reality or teleoperation systems. We described the kinematic design of the linkage system based on the torque performance of the TD-MRA and evaluated the output force performance using an open-loop force controller. The haptic interface was designed to achieve greater than 2 N of output forces and a motion range of ±50 mm. Experimental results demonstrated an average error of 0.1 N, indicating that the open-loop controller performed effectively in all directions at the tested platform positions. Full article

Magnetorheological fluids (MRFs) are functional fluids that exhibit rapid and reproducible rheological responses to external magnetic fields. An MRF has been utilized to develop a haptic device with precise haptic feedback for teleoperative surgical systems. To achieve this, we developed several types of compact MRF clutches for haptics (H-MRCs) and integrated them into a twin-driven MRF actuator (TD-MRA). The first TD-MRA prototype was successfully used to generate fine haptic feedback for operators. However, undesirable torque ripples were observed due to shaft misalignment and the low rigidity of the structure. Additionally, the detailed torque control performance was not evaluated from both static and dynamic current inputs. The objective of this study is to develop a second prototype to reduce torque ripple by improving the structure and evaluating its static and dynamic torque performance. Torque performance was measured using both constant and stepwise current inputs. The coefficient of variance of the torque was successfully reduced by half due to the structural redesign. Although the time constants of the H-MRC were less than 10 ms, those of the TD-MRA were less than 20 ms under all conditions. To address the slower downward output response, we implemented an improved input method, which successfully halved the response time. Full article

The aim of this study is to design and manufacture a multi-plate clutch system that uses magnetorheological (MR) fluid control to allow for a variable power transmission ratio in power distribution systems. MR fluid is a smart material that enables presenting a solution to the shocks and power loss that occur due to mechanical problems in power distribution systems. As such, the longitudinal and lateral dynamic properties of 4WD (four-wheel drive) vehicles were examined and analyzed to develop an algorithm to control the front/rear power distribution according to the road surface state and driving conditions. To verify the algorithm, the CarSim vehicle dynamics simulation program was adopted to perform experiments to understand the vehicle’s dynamic performance improvements and turning stability via a HILS (Hardware in the Loop) system. In this study, an MR fluid, multi-plate clutch was used that combines a dry clutch and a wet clutch using the characteristics of the MR fluid. Such a clutch was designed to enable continuous and smooth torque transmission by utilizing the strengths of each of the dry and wet clutches. The CarSim vehicle dynamics program was used to conduct the experiments, which were conducted by linking to the manufactured MR fluid clutch experimental device. The experiments investigated the dynamic performance based on the power distribution ratio by performing longitudinal flat, inclined driving and lateral DLC (double lane change) driving. In summary, this study found that it is possible to perform power transmission by applying a current to an MR fluid and forming a magnetic field to change the flow properties of the fluid to control the torque transmission ratio that occurs in an MR fluid clutch. Full article

This paper presents a new type of hydraulic clutch operating by means of magnetorheological (MR) fluids and the results achieved from both theoretical analysis and experimental measurement. A hydraulic clutch system with MR working fluid and a rotating magnetic field located was designed. The clutch was based on the principle of using a rotating magnetic field created by an alternating current electromagnet to set the MR fluid in motion. To test the hydraulic clutch with a rotating magnetic field, MR fluids were produced by our laboratory, consisting of solid iron particles of various diameters mixed with a silicone oil. With MR working fluid and a rotating magnetic core was designed. The rheological properties of the MR fluids were assessed on the basis of tests carried out with a Brookfield DV2T rheometer equipped with a magnetic device for generating a magnetic field. The characteristics of the hydraulic clutch were tested on a specially built test stand. It was found that the torque transmitted by the clutch increased with the rotational speed of the magnetic field and with a lower rotational speed of the beaker in which the working fluid was placed. It was also found that the greatest torque occurred with the working fluid with the highest iron content. Based on the analysis of the structure and characteristics of the clutch in which the magnetic field is used, it has been shown that the design of the developed clutch is similar to that of an induction clutch, and its characteristics correspond to the characteristics of the eddy current clutch. Therefore, the proposed new clutch with MR fluid and rotating magnetic field can be applied to stationary power transmission systems in a manner similar to an eddy current clutch. Full article

In recent years, rehabilitation robots have been developed and used in rehabilitation training for patients with hemiplegia. In this paper, a rehabilitation training robot with variable damping is designed to train patients with hemiplegia to recover upper limb function. Firstly, a magnetorheological joint damper (MR joint damper) is designed for the rehabilitation training robot, and its structural design and dynamic model are tested theoretically and experimentally. Secondly, the rehabilitation robot is simplified into a spring-damping system, and the rehabilitation training controller for human movement is designed. The rehabilitation robot dynamically adjusts the excitation current according to the feedback speed and human–machine interaction torque, so that the rehabilitation robot always outputs a stable torque. The magnetorheological joint damper acts as a clutch to transmit torque safely and stably to the robot joint. Finally, the upper limb rehabilitation device is tested. The expected torque is set to 20 N, and the average value of the output expected torque during operation is 20.02 N, and the standard deviation is 0.635 N. The output torque has good stability. A fast (0.5 s) response can be achieved in response to a sudden motor speed change, and the average expected output torque is 20.38 N and the standard deviation is 0.645 N, which can still maintain the stability of the output torque. Full article

Active suspension systems for automotive vehicles were developed in the past using hydrostatic, electric, magnetic and magnetorheological (MR) technologies to control road vibrations and vehicle dynamics and thus improve ride comfort and vehicle performance. However, no such systems were developed for heavy equipment, trucks and off-highway vehicles. For instance, agricultural tractors are still equipped with minimal suspension systems causing discomfort and health problems to drivers. The high suspension loads due to the massive weight of these vehicles are a challenge since high forces are needed to achieve efficient active suspension control. This paper presents an experimentally validated feasibility study of a hydrostatic, MR clutch-driven system of actuators. The scope of this paper is to evaluate the preliminary performance of the actuator for future vibration control. The hydraulic system allows the actuators to be remotely located from the wheels or cabin of the heavy vehicle and conveniently placed on the vehicle’s suspended frame. The design includes two MR clutches driven in an antagonistic configuration to push and pull on the end effector. Experiments on a laboratory prototype show that the low-inertia characteristics of the clutches allow a high blocked-output force bandwidth of 20 Hz with peak output forces exceeding 15 kN. Full article

In this paper, the experimental validation of an innovative clutch based on magnetorheological fluids (MRFs) excited by permanent magnets is described. The device, used in automotive applications to engage and disengage the vacuum pump, is tested using a standardized Worldwide harmonized Light-duty Test Cycle (WLTC). A test bench is built, and the system is observed in its operation for one hour, considering two consecutive WLTCs. The temperature increase slightly impacts the clutch’s behavior; in particular, the on-state performance of the device, mainly determined by the magnetic field-induced torque, remains largely unaffected by the temperature increase. The results showed that the performance of the proposed MRF-based device is only marginally affected by the phenomena that take place during the actual operation (e.g., temperature increase, shaft slip), confirming the effectiveness of the design. Full article

This paper studies the working principles of antagonistic magneto-rheological (MR) actuators, i.e., a combination of an electric motor and a pair of MR clutches in an antagonistic configuration, for compliant actuation in robotics. The study focuses on the unique boundedness property exhibited by MR actuators, which limits the output torques delivered to the load, independent of the received input torque and/or control commands. This inherent property is of significant importance for ensuring human safety in human–robot interaction applications. Through a comprehensive analysis, we provide analytical proof of the inherent output boundedness of antagonistic MR actuators and validate our findings through experimental results. Our research demonstrates that these actuators are well-suited for safe operations in robotic applications, eliminating the need for additional sensor measurements or complex control strategies. This promising capability enables the avoidance of trade-offs between actuator performance, complexity, and cost. The insights gained from this study contribute to advancing compliant actuation technology, paving the way for high-performance and human-safe robotic systems. Full article

In this paper, the characterization of a new clutch control strategy by means of a magnetorheological fluid (MR) has been investigated. The clutch system was designed and manufactured in the laboratory in order to determine its static and dynamic characteristics. As a result of experimental measurements, the torque control of the developed MR clutch was determined in the frequency and time domains, as were the analytical relationships describing the connection between the control and controlled variables. The obtained results demonstrate that the analytical models are in good agreement with the experimental data, with an overall error of about 7%. Full article

The collaborative robot market has experienced rapid growth, leading to advancements in compliant actuation and torque control. Magneto-rheological (MR) clutches offer a hardware-level solution for achieving both compliance and torque control through adjustable coupling between the input and output of the MR clutch. However, the presence of frequency-dependent magnetic hysteresis makes controlling the output torque challenging. In this paper, we present a comparative study of six widely used hysteresis models and propose a computationally efficient algebraic model to address the issue of hysteresis modeling and control of the output torque of rotary MR clutches. We compare the estimated torques with experimental measurements from a prototype MR clutch, to evaluate the computational complexity and accuracy of the model. Our proposed algebraic hysteresis model demonstrates superior accuracy and approximately two times less computational complexity than the Bouc–Wen model, and approximately twenty times less memory requirement than neural network-based models. We show that our proposed model has excellent potential for embedded indirect torque control schemes in systems with hysteresis, such as MR clutches and isolators. Full article

The compression tests under the unidirection for magnetorheological (MR) fluids have been studied at different compressive speeds. The results indicated that curves of compressive stress under different compression speeds at the applied magnetic field of 0.15 T overlapped well and were shown to be an exponent of about 1 of the initial gap distance in the elastic deformation region and accorded well with the description of continuous media theory. The difference in compressive stress curves increases significantly with an increasing magnetic field. At this time, the continuous media theory description could not be accounted for the effect of compressive speed on the compression of MR fluid, which seems to deviate from the Deborah number prediction under the lower compressive speeds. An explanation based on the two-phase flow due to aggregations of particle chains resulting in much longer relaxation times at a lower compressive speed was proposed to explain this deviation. The results have guiding significance for the theoretical design and process parameter optimization for the squeeze-assisted MR devices such as MR dampers and MR clutches based on the compressive resistance. Full article

The paper is focused on magnetorheological (MR) clutches applied in industrial drive systems working in a steady continuous-duty state. The main goal of the carried out numerical and analytical analyses oriented towards electrical power consumption, copper losses (Joule heat) in an excitation coil, spatial temperature distributions and the highest temperature possible for an MR fluid is to compare MR clutches due to a different number of discs. The authors considered selected representative MR multi-disc clutches with one, two, three or four discs, developing clutching torque $T_c$ equal to 20, 35 and 50 Nm. These clutches were constructed based on the in-house design that integrates analytical and field methods (further in the paper referred to as the integrated analytical-field design method) described in the literature. The thermal computer simulation results obtained with the help of the AGROS2D program, combined with findings achieved with the use of simplified physical reasonings, allow one to draw the conclusion that the most advantageous, recommended number of discs for a magnetorheological clutch from the viewpoint of various (both constructional and thermal) criteria is the number of discs: N = 2. This conclusion takes into account the results presented earlier in the literature: the choice is a compromise between decreasing the mass (volume) of the MR clutches and increasing both the electrical power consumption and the maximum temperature of MR fluids in a clutch working region as the number of discs, N, increases. Full article

A magnetorheological (MR) multi-plate clutch was proposed with both mechanical friction mode and magnetic field control modes. The magnetic field control mode was based on an MR fluid coupler that changed its viscous properties according to the density of an applied magnetic field. This mode was used in the early stage of clutch operation to reduce the impact of friction between the disc and plate, and eliminate to the extent possible the difference in their relative speeds when contacting each other in later stages. Once the rotational speed difference between the disc and plate was reduced, the clutch was operated in mechanical friction mode by compressing the friction surfaces together. A torque modeling equation was then derived for each mode based on the Bingham model of the MR fluid, and the transmission torque of the proposed multi-plate clutch was derived using these equations as well as magnetic field analysis results obtained using ANSYS Maxwell. A multi-plate MR clutch was then fabricated, and its torque transmission characteristics were evaluated in the magnetic field control and mechanical friction modes. The results confirmed that the model-based torque calculations were consistent with the observed transmission torque. Finally, control algorithms for mechanical friction only and mixed mechanical friction/magnetic field control torque tracking of the proposed MR multi-plate clutch were designed, and their performances were evaluated when applying unit step command, half-sine-wave command, and rotational speed changes. The results indicated that the torque tracking control was performed smoothly, demonstrating the advantages of the proposed clutch. Full article

This review article presents various multi-DOF application systems that utilize smart magnetorheological (MR) fluid. It is well known that MR fluid has been actively studied and applied in many practical systems such as vehicle suspension dampers. The design requirements for the effective applications of MR fluid include geometry optimization, working principles, and control schemes. The geometry optimization is mostly related to the size minimization with high damping force, while the working principles are classified into the shear mode, the flow mode, and the squeeze mode depending on the dominant dynamic motion of the application system. The control schemes are crucial to achieve final targets such as robust vibration control against disturbances. It should be addressed that advanced output performances of MR application systems heavily depends on these three requirements. This review article presents numerous application systems such as sandwich structures, dampers, mounts, brakes, and clutches, which have been developed considering the three design requirements. In addition, in this article some merits and demerits of each application system are discussed to enable potential researchers to develop more effective and practical MR application systems featuring the multi-DOF dynamic motions. Full article

This paper focuses on magnetorheological clutches (MR clutches) with a disc structure that can be designed as one-disc or multi-disc clutches (number of discs: N = 1, N > 2). The main goal of the paper is to compare their overall dimensions (lengths and radii), masses, volumes, and characteristic factors—torque per mass ratio and torque per volume ratio for MR clutches that develop the same given clutching torque $T_c$ but differ in the number of discs (it is assumed that the number of discs of the primary member varies from one to four). This analysis develops charts and guidelines that will allow designers to choose the appropriate number of discs from the view point of various criteria, and with various limitations regarding geometry, geometric proportions, mass, volume, or restrictions on the amount of active materials used in the manufacturing process. The limitations on the active materials used are of particular importance in the case of mass production. Our methodology uses a comparative study, which can also be used when comparing design solutions of other electromechanical converters. Full article