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

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

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルIROS Hamburg 2015 - Conference Digest
ホスト出版物のサブタイトルIEEE/RSJ International Conference on Intelligent Robots and Systems
出版社Institute of Electrical and Electronics Engineers Inc.
ページ6551-6556
ページ数6
ISBN(電子版)9781479999941
DOI
出版ステータスPublished - 2015 12 11
イベントIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
継続期間: 2015 9 282015 10 2

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
2015-December
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Other

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

ASJC Scopus subject areas

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

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