Development of new controllable damping device for robots and mechatronics systems

Homogeneous electrorheological (ER) fluid damper reduce the vibration in robot joints due to the elasticity of the drive system. Also, it enlarges servo stiffness in direct-drive motor system. However, conventional research into ER fluids is based on parallel electrodes with ER fluids between them while ER fluids are used in a shear mode. Since a high voltage is required for use of ER fluids with parallel electrodes, problems of cost, safety and wiring to moving part for practical applications are of concern. In order to solve some of the above problems, we have proposed a one-sided pattern electrode, which is an electrode in a pattern arranged on only one of the two surfaces of a pair of electrodes, with an insulator arranged on the other surface. We experimentally verify the manifestation of ER effects in a homogeneous ER fluid. Moreover, the effect of disk gap upon viscosity change was investigated. The proposed configuration leads to new damping devices for robots and mechatronics systems.