A Simple One Dimensional Robot Joint Based on the ER Linear Reversing Mechanism

The feasibility of using a well-known twin ER clutch linear reversing mechanism as a robotic actuator is demonstrated. High speed of response, displacement and positional accuracy can be obtained bi-directionally. A validated mathematical model of the apparatus provides a basis for the control strat...

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Bibliographic Details
Published in:Journal of intelligent material systems and structures 2002-07, Vol.13 (7-8), p.533-537
Main Authors: Tan, K. P., Bullough, W. A., Stanway, R., Sims, N., Johnson, A. R., Tozer, R. C.
Format: Article
Language:English
Subjects:
Applied sciences
Cross-disciplinary physics: materials science
rheology
Electro- and magnetorheological fluids
Exact sciences and technology
General equipment and techniques
Instruments, apparatus, components and techniques common to several branches of physics and astronomy
Material types
Mechanical engineering. Machine design
Physics
Rheology
Transducers
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Summary:The feasibility of using a well-known twin ER clutch linear reversing mechanism as a robotic actuator is demonstrated. High speed of response, displacement and positional accuracy can be obtained bi-directionally. A validated mathematical model of the apparatus provides a basis for the control strategy. Positional accuracy is enhanced by an ER brake which works in sequence with the clutch excitation switches. The robot arm, in rotational displacement is tested over a large number of cycles, speeds, displacements and inertial loads and the quality of control compared to that of competitive conventional servo motors.
ISSN:1045-389X
1530-8138
DOI:10.1106/104538902030707