Simulations of a parallel-plate electrorheological (ER) actuator as a robotic drive

Dlodlo, Z. B. (2010) Simulations of a parallel-plate electrorheological (ER) actuator as a robotic drive.

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Official URL: http://ir.nust.ac.zw/xmlui/handle/123456789/93

Abstract

Published in the proceedings of the 25th International Conference of CAD/CAM, Robotics & Factories of the Future,13-16 July 2010 Pretoria,South Africa,This paper presents, briefly, results of tests conducted on a parallel-plate electrorheological (ER) clutch for use as an actuator for small-to-medium size robots, and simulations of scenarios of the ER actuator driving simple model scale robotic joints. An ER clutch is a device that uses a special typeof fluids known as ER fluids or suspensions as a coupling medium. These fluids are normally Newtonian, but become non-Newtonian and subsequently solid when subjected to electric fields of sufficient strength (of the order of 103 V(mm)-1). The ER effect has been shown to have an inverse dependence on fluid temperature and thus it is necessary to provide cooling for the device in order to achieve best performance. The challenges in the design are the large operational electric fields and the desire or need to keep the mass of the moving robotic links to a minimum. The output torque from the device is relatively low, but it is thought that coupling the device?s output to a gearbox with a high transmission ratio can achieve good results.

Item Type: Article
Uncontrolled Keywords: parallel-plate,electrorheological,actuator,robotic drive,simulations
Divisions: Universities > State Universities > National University of Science and Technology
Depositing User: Mr. Edmore Sibanda
Date Deposited: 01 Dec 2015 02:32
Last Modified: 01 Dec 2015 02:32
URI: http://researchdatabase.ac.zw/id/eprint/1327

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