Enlarging output of high torque controllable clutch using ER gel

Author

Takata, Yudai ; Koyanagi, Ken´ichi ; Kakinuma, Yasuhiro ; Anzai, Hidenobu ; Sakurai, Koji ; Motoyoshi, Tatsuo ; Oshima, Toru

Author_Institution

Dept. of Intell. Syst. Design Eng., Toyama Prefectural Univ., Toyama, Japan

fYear

2012

fDate

5-8 Aug. 2012

Firstpage

13

Lastpage

18

Abstract

This study is concerned with the development of an Electro-Rheological (ER) Gel Linear Actuator (ERGLA) as the principle component of a high torque controllable clutch that has applications in robots that coexist with humans. Applying the ER gel to clutches in force transmission assembly decreases the inertia and mechanical limit of the maximum speed, enabling keeping high controllability. This paper focuses on enlarging the output torque of the clutch with ER gels, which is a the main part of the ERGLA.

Keywords

actuators; clutches; controllability; electrorheology; robots; torque; torque control; ERGLA; controllability; electrorheological gel linear actuator; force transmission assembly; inertia; mechanical limit; robots; torque controllable clutch; Automatic voltage control; Electric fields; Electrodes; Erbium; Shafts; Torque; Clutch; ER Gel; Functional material; Linear Actuator; Soft actuator;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2012 International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4673-1275-2

Type

conf

DOI

10.1109/ICMA.2012.6282339

Filename

6282339