Shear mode ER transfer function for robotic applications

Electro-rheological (ER) fluids are becoming popular in modern industrial applications. The advantage of employing ER devices is due to the ease of energizing the ER fluids at fast speeds of response. One innovation in ER applications could be in the positioning control of the robotic arm using an E...

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Bibliographic Details
Published in:Journal of physics. D, Applied physics Applied physics, 2005-06, Vol.38 (11), p.1838-1852, Article 1838
Main Authors: Tan, K P, Stanway, R, Bullough, W A
Format: Article
Language:English
Subjects:
Cross-disciplinary physics: materials science
rheology
Electro- and magnetorheological fluids
Exact sciences and technology
Material types
Physics
Rheology
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Summary:Electro-rheological (ER) fluids are becoming popular in modern industrial applications. The advantage of employing ER devices is due to the ease of energizing the ER fluids at fast speeds of response. One innovation in ER applications could be in the positioning control of the robotic arm using an ER clutch. In order to actuate the manipulator, the ER output torque response is required. However, the behaviour of this ER torque response at different input conditions is not clearly understood. Therefore, in this paper, a sample study of the ER output torque is conducted. The ER output torque responses at different input parameters are studied carefully for the establishment of an appropriate ER transfer function in shear mode. This transfer function will serve as an important feature in future ER-actuated robot arm's control process.
ISSN:0022-3727
1361-6463
DOI:10.1088/0022-3727/38/11/024