TY - GEN
T1 - Performance evaluation of a compliant magnetorheological piston actuator
AU - Dominuez, Gonzalo Aguirre
AU - Kamezaki, Mitsuhiro
AU - Shan, He
AU - Sugano, Shigeki
N1 - Funding Information:
This work was supported by the Program for Leading Graduate Schools, "Graduate Program for Embodiment Informatics" of the MEXT, Strategic Advancement of Multipurpose Ultra-human Robot and Artificial Intelligence Technologies (SAMURAI), the New Energy and Industrial Technology Development Organization (NEDO), JSPS KAKENHI Grant No. 26870656 and 25220005, and the Research Institute for Science and Eng., Waseda University.
Publisher Copyright:
© 2016 IEEE.
PY - 2017/2/6
Y1 - 2017/2/6
N2 - Compliant actuation is an indispensable element for safe physical human robot interaction. However, there is a lack of devices, which can integrate the high power density of hydraulic actuators with intrinsically safe mechanisms. This drove the development a new type of hydraulic magneto-rheological piston. This device includes a novel toroidal array of magnetorheological valves in its head. In previous studies, the system performance was evaluated only as a traditional damping system. Now, the piston is connected to a pump to create a hydraulic compliant actuator. This novel compliant piston is capable to control the piston speed and force independently by using the pump and electromagnet voltages respectively. In this way, different combinations of these parameters can be used to achieve diverse system properties; e.g. low response time or energy efficiency. Several experiments are conducted to evaluate its performance, including force, friction, speed, and step response. The results display the potential of the devices to be used as an active system for compliant hydraulic robotic applications. They also hint to the possibilities to improve by using a more sophisticated control system for its speed and force.
AB - Compliant actuation is an indispensable element for safe physical human robot interaction. However, there is a lack of devices, which can integrate the high power density of hydraulic actuators with intrinsically safe mechanisms. This drove the development a new type of hydraulic magneto-rheological piston. This device includes a novel toroidal array of magnetorheological valves in its head. In previous studies, the system performance was evaluated only as a traditional damping system. Now, the piston is connected to a pump to create a hydraulic compliant actuator. This novel compliant piston is capable to control the piston speed and force independently by using the pump and electromagnet voltages respectively. In this way, different combinations of these parameters can be used to achieve diverse system properties; e.g. low response time or energy efficiency. Several experiments are conducted to evaluate its performance, including force, friction, speed, and step response. The results display the potential of the devices to be used as an active system for compliant hydraulic robotic applications. They also hint to the possibilities to improve by using a more sophisticated control system for its speed and force.
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U2 - 10.1109/SII.2016.7844007
DO - 10.1109/SII.2016.7844007
M3 - Conference contribution
AN - SCOPUS:85015422460
T3 - SII 2016 - 2016 IEEE/SICE International Symposium on System Integration
SP - 254
EP - 259
BT - SII 2016 - 2016 IEEE/SICE International Symposium on System Integration
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/SICE International Symposium on System Integration, SII 2016
Y2 - 13 December 2016 through 15 December 2016
ER -