Design and experimental evaluation of a novel bidirectional magnetorheological actuator

초록

This research focuses on development of a new bidirectional magneto-rheological actuator (BMRA), especially for force feedback system. The BMRA composed of two input shafts rotating in opposite directions at the same speed, on which the two magnetic discs are assembled. The two discs are placed inside a housing which is connected to the output shaft. On each side of the housing, magnetic coils are integrated to create corresponding magnetic field on required. The gap between the discs and the housing is filled magnetorheological fluid (MRF). A thin wall is employed to separate the coils with the MRF. This allows the MRF duct being manufactured more easily and accurately. After a review of state of the art of MR actuators, the new configuration and working principle of the proposed BMRA is presented. After that, equation for calculation of the output torque of the proposed BMRA is derived and optimal design of the BMRA is conducted considering its maximum output torque and mass. Based on the optimal results, a prototype of the BMRA is manufactured and performance characteristics of the proposed BMRA are then investigated with both experimental and simulated results.

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