Design and Development of Magneto-Rheological Actuators with Application in Mobile Robotics

In recent years, Magneto-Rheological (MR) fluids devices are widely studied and used for various purposes. Among these MR fluids devices, the MR actuator has attracted increasing attention for last two decades. An MR actuator is usually made of an active component (motor) and MR clutches. Compared with the regular actuators, the MR actuator features compliance due to the existence of MR fluids, which is commonly consider as benefits at the aspect of safety. On the other hand, the MR actuator has advantages on controllable bandwidth, torque-mass and torque-inertia ratios compared with the other compliant actuators. In this study, a new closed-loop, Field-Programable-Gate-Array (FPGA) based control scheme to linearize an MR clutch\u27s input-output relationship is presented. The feedback signal used in this control scheme is the magnetic field acquired from hall sensors within the MR clutch. The FPGA board uses this feedback signal to compensate for the nonlinear behavior of the MR clutch using an estimated model of the clutch magnetic field. The local use of an FPGA board will dramatically simplify the use of MR clutches for torque actuation. The effectiveness of the proposed technique is validated using an experimental platform that includes an MR clutch as part of a compliant actuation mechanism. The results clearly demonstrate that the use of the FPGA based closed-loop control scheme can effectively eliminate hysteretic behaviors of the MR clutch, allowing to have linear actuators with predictable behaviors. Moreover, a novel optimization design of MR clutches is proposed. Based on the optimization, the characteristics of MR clutches in three common configurations are discussed and compared. People can select suitable configuration of MR clutch before design. Lastly, a lightweight mobile robot is developed by using MR actuators. This mobile robot also has large driving force and can stop at any positions without running the motor

Hybrid Magneto-Rheological Actuators for Human Friendly Robotic Manipulators

In recent years, many developments in the field of the physical human robot interaction (pHRI) have been witnessed and significant attentions have been given to the subject of safety within the interactive environments. Ensuring the safety has led to the design of the robots that are physically unable to hurt humans. However, Such systems commonly suffer from the safety-performance trade-off. Magneto-Rheological (MR) fluids are a special class of fluids that exhibit variable yield stress with respect to an applied magnetic field. Devices developed with such fluids are known to provide the prerequisite requirements of intrinsic safe actuation while maintaining the dynamical performance of the actuator. In this study, a new concept for generating magnetic field in Magneto-Rheological (MR) clutches is presented. The main rationale behind this concept is to divide the magnetic field generation into two parts using an electromagnetic coil and a permanent magnet. The main rationale behind this concept is to utilize a hybrid combination of electromagnetic coil and a permanent magnet. The combination of permanent magnets and electromagnetic coils in Hybrid Magneto-Rheological (HMR) clutches allows to distribute the magnetic field inside an MR clutch more uniformly. Moreover, The use of a permanent magnet dramatically reduces the mass of MR clutches for a given value of the nominal torque that results in developing higher torque-to-mass ratio. High torque-to-mass and torque-to-inertia ratios in HMR clutches promotes the use of these devices in human-friendly actuation

Design of a Haptic Interface for Medical Applications using Magneto-Rheological Fluid based Actuators

This thesis reports on the design, construction, and evaluation of a prototype two degrees-of-freedom (DOF) haptic interface, which takes advantage of Magneto-Rheological Fluid (MRF) based clutches for actuation. Haptic information provides important cues in teleoperated systems and enables the user to feel the interaction with a remote or virtual environment during teleoperation. The two main objectives in designing a haptic interface are stability and transparency. Indeed, deficiencies in these factors in haptics-enabled telerobotic systems has the introduction of haptics in medical environments where safety and reliability are prime considerations. An actuator with poor dynamics, high inertia, large size, and heavy weight can significantly undermine the stability and transparency of a teleoperated system. In this work, the potential benefits of MRF-based actuators to the field of haptics in medical applications are studied. Devices developed with such fluids are known to possess superior mechanical characteristics over conventional servo systems. These characteristics significantly contribute to improved stability and transparency of haptic devices. This idea is evaluated and verified through both theoretical and experimental points of view. The design of a small-scale MRF-based clutch, suitable for a multi-DOF haptic interface, is discussed and its performance is compared with conventional servo systems. This design is developed into four prototype clutches. In addition, a closed-loop torque control strategy is presented. The feedback signal used in this control scheme comes from the magnetic field acquired from embedded Hall sensors in the clutch. The controller uses this feedback signal to compensate for the nonlinear behavior using an estimated model, based on Artificial Neural Networks. Such a control strategy eliminates the need for torque sensors for providing feedback signals. The performance of the developed design and the effectiveness of the proposed modeling and control techniques are experimentally validated. Next, a 2-DOF haptic interface based on a distributed antagonistic configuration of MRF-based clutches is constructed for a class of medical applications. This device is incorporated in a master-slave teleoperation setup that is used for applications involving needle insertion and soft-tissue palpation. Phantom and in vitro animal tissue were used to assess the performance of the haptic interface. The results show a great potential of MRF-based actuators for integration in haptic devices for medical interventions that require reliable, safe, accurate, highly transparent, and stable force reflection

A lightweight magnetorheological actuator using hybrid magnetization

Copyright © 2020, IEEE This paper presents the design and validation of a lightweight Magneto-Rheological (MR) clutch, called Hybrid Magneto-Rheological (HMR) clutch. The clutch utilizes a hybrid magnetization using an electromagnetic coil and a permanent magnet. The electromagnetic coil can adjust the magnetic fieldgenerated by the permanent magnet to a desired value, and fully control the transmitted torque. To achieve the maximum torque to mass ratio, the design of HMR clutch is formulated as a multiobjective optimization problem with three design objectives, namely the transmitted torque, the mass of the clutch, and themagnetic field strength within the clutch pack. A prototype of the HMR clutch is fabricated and its dynamic performance is experimentally validated. Experimental results clearly demonstrate the advantages of the HMR clutch in applications requiring fast and precise motion and torque control. This article presents the design and validation5 of a lightweight magnetorheological (MR) clutch, called hy6brid magnetorheological (HMR) clutch. The clutch utilizes7 a hybrid magnetization using an electromagnetic coil and8 a permanent magnet. The electromagnetic coil can adjust9 the magnetic field generated by the permanent magnet to10 a desired value and fully control the transmitted torque. To11 achieve the maximum torque-to-mass ratio, the design of12 the HMR clutch is formulated as a multiobjective optimiza13tion problemwith three design objectives, namely the trans14mitted torque, themass of the clutch, and themagnetic field15 strength within the clutch pack. A prototype of the HMR16 clutch is fabricated, and its dynamic performance is ex17perimentally validated. Experimental results clearly demon18strate the advantages of the HMR clutch in applications19 requiring fast and precise motion and torque control

INOVE: a testbench for the analysis and control of automotive vertical dynamics

International audienceThis paper introduces the INOVE testbed, a novel experimental platform designed for the study of vertical dynamics in road vehicles. A complete description of the physical characteristics and capabilities of the system is presented. Also we show some of the current/possible applications of this system, regarding significant topics as: modelling, observation fault detection and control

Active control of blankholder in sheet metal stamping

Abstract The continuous demand of shape complexity, product accuracy and extended tools life has led to a widespread use of auxiliary systems in sheet metal stamping. Nevertheless, their performances are often inadequate, making their use a compromise between process efficiency and stability. The paper focuses on a new magneto-rheological actuator design. Both analytical and numerical approaches are developed to evaluate load response and to optimize the magnetic field interaction. A physical prototype according to the design outputs is manufactured and tested at different dynamic conditions. Finally, magnetic force values obtained from FE model and experimental tests are compared

Parametric Optimization Of Magneto-Rheological Fluid Damper Using Particle Swarm Optimization

This paper presents a parametric modeling of a magneto-rheological (MR) damper using a Particle Swarm Optimization (PSO) method. The objective of this paper is to optimize the parameter values of the MR fluid damper behavior using the Bouc-Wen model. The parametric identification was imposed beforehand in replicating the behavior of the MR fluid damper. The algebraic function from a number of hysteresis models was steered by comparing selected models: Bingham, Bouc-Wen and BoucWen by Kwok. A simulation method was operated in investigating these models by employing MATLAB reliant from the model intricacy. The experimental data was presented in terms of the time histories of the displacement, the velocity and the force parameters, measured for both constant and variable current settings and at a selected frequency applied to the damper. The model parameters were determined using a set of experimental measurements corresponding to different current constant values. It has been shown that the MR damper model’s response via the proposed approach is in good agreement with the MR damper test rig counterpar

MR Fluid Damper and Its Application to Force Sensorless Damping Control System

Vibration suppression is considered as a keyresearch field in civil engineering to ensure the safety and comfort of their occupants and users of mechanical structures. To reduce the system vibration, an effective vibration control with isolation is necessary. Vibration control techniques have classically been categorized into two areas, passive and active controls. For a long time, efforts were made to make the suspension system work optimally by optimizing its parameters, but due to the intrinsic limitations of a passive suspension system, improvements were effective only in a certain frequency range. Compared with passive suspensions, active suspensions can improve the performance of the suspension system over a wide range of frequencies. Semi-active suspensions were proposed in the early 1970s [1], and can be nearly as effective as active suspensions. When the control system fails, the semi-active suspension can still work under passive conditions. Compared with active and passive suspension systems, the semi-active suspension system combines the advantages of both active and passive suspensions because it provides better performance when compared with passive suspensions and is economical, safe and does not require either higher-power actuators or a large power supply as active suspensions do [2]

Experimenting sensors network for innovative optimal control of car suspensions

This paper presents an innovative electronically controlled suspension system installed on a real car and used as a test bench. The proposed setup relies on a sensor network that acquires a large real-time dataset collecting the car vibrations and the car trim and, through a new controller based on a recently proposed theory developed by the authors, makes use of adjustable semi-active magneto-rheological dampers. A BMW series 1 is equipped with such an integrated sensors-controller-actuators device and an extensive test campaign, in real driving conditions, is carried out to evaluate its performance. Thanks to its strategy, the new plant enhances, at once, both comfort and drivability of the car, as field experiments show. A benchmark analysis is performed, comparing the performance of the new control system with the ones of traditional semi-active suspensions, such as skyhook devices: the comparison shows very good results for the proposed solution