Magneto Rheological Linear Clutch for Force Controlled Human Safe Robots
Автор: Achu Wilson
Загружено: 2016-09-25
Просмотров: 4712
Описание:
This paper proposes a Magneto Rheological linear
clutch for use in human safe robotic applications. The force
transmitted to the links of the robot must be precisely controlled
for any manipulator if it has to be operated safely alongside
humans. The traditional approaches to this problem is using
various compliant actuating schemes like Series Elastic
Actuators, Joint Torque Control etc. Research on the usage of
smart materials that change their properties on application of
electrical or magnetic fields for human safe robots have gained
momentum recently. Studies on the feasibility of Magneto-
Rheological actuators has been done already. This paper
introduces a MR clutch which can control the force transmitted
by a linear actuator. The electromechanical model of the linear
clutch has been developed, implemented in hardware, and tested
using a prototype one Degree of Freedom arm. The design of the
clutch is detailed and the performance is characterized thorough
a series of experiments. The results suggest that the linear clutch
serves well for the precise force control of a linear actuator.
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