Design and control of a novel visco-elastic braking mechanism using HMA

Abstract

Many forms of actuators have been developed with the capability of braking. Most of these braking mechanisms involve numerous mechanical components, that wear with time and lose precision, furthermore the mechanism are difficult to scale down in size while maintaining relatively large holding torques. In this paper, we propose the use of an off-the-shelf economic material, Hot-Melt-Adhesive (HMA), as a brake mechanism. HMA exhibits visco-elastic characteristics and has interesting properties as it can change phases from solid to plastic to liquid and vice versa. Its advantage is that it is reusable and durable. Experiments were performed to display the holding strength as well as the HMAs visco-elasticity in its solid state as a brake mechanism. The HMA requires no constant application of power when solid, and acts as a brake and visco-elastic damper depending on temperature. Results show that HMA can add compliance and high torque braking of joints. © 2011 Springer-Verlag