Development of a backdrivable magnetorheological hydraulic piston for passive and active linear actuation

Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Morgan French, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

A new design of a magnetorheological piston prototype intended for passive or active force control in robotic applications for human robot interaction is introduced. It is based in a novel toroidal array of valves, contained within the piston head, which are used to control the output force of the actuator in order to achieve a high degree of reliability, size efficiency, and safety, by exploiting the material properties of magnetorheological fluids and permalloy metals. This paper describes the main points in the development of the magnetorheological piston prototype, the mathematical modelling of the magnetic circuit, and the results of the experiments conducted using a universal testing machine to evaluate the passive performance of the prototype. Results show the feasibility and performance of the new toroidal magnetic circuit of the magnetorheological hydraulic piston prototype. Improvements in order to be able to test the active performance of the design together with a pump setup are proposed.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6551-6556
Number of pages6
Volume2015-December
ISBN (Print)9781479999941
DOIs
Publication statusPublished - 2015 Dec 11
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: 2015 Sep 282015 Oct 2

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
CountryGermany
CityHamburg
Period15/9/2815/10/2

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Dominguez, G. A., Kamezaki, M., French, M., & Sugano, S. (2015). Development of a backdrivable magnetorheological hydraulic piston for passive and active linear actuation. In IEEE International Conference on Intelligent Robots and Systems (Vol. 2015-December, pp. 6551-6556). [7354313] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7354313