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Design, Modeling and Analysis of a Magnetorheological Fluids-Based Soft Actuator for Robotic Joints

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10464))

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Abstract

Aiming at eliminating vibration generated during the motion state switch of robotic joints, this study proposes a magnetorheological fluids (MRFs) based soft actuator to achieve semi-active vibration control. In this paper, the configuration of the MRFs actuator is described firstly, followed by the theoretical modeling of the magnetic circuit and the transmitted torque. Then, the structural model of the actuator is designed and presented. After these, the influences of working induction and speed difference on both total transmitted torque and controllable coefficient are numerically calculated. Finally, an electromagnetic simulation is carried out with ANSYS 10.0® to verify the designed magnetic circuit of the actuator. The results indicate that the working induction holds a strong impact on both total transmitted torque and controllable coefficient; however, the influences of speed difference were relatively slight. Moreover, the designed circuit is proved to fulfill the requirements of both induction intensity and uniformity.

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Acknowledgment

The authors wish to acknowledge the National Natural Science Foundation of China (grant no. 51505114), the Anhui Provincial Natural Science Foundation (grant no. 1608085QE116), the China Postdoctoral Science Foundation funded project (grant no. 2015M571919), and the Fundamental Research Funds for the Central Universities (grant no. JZ2016HGTB0717) for their financial supports of this work.

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Authors and Affiliations

  1. School of Mechanical Engineering, Hefei University of Technology, Hefei, 230009, China

    Daoming Wang, Lan Yao, Jiawei Pang & Zixiang Cao

Authors
  1. Daoming Wang
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  2. Lan Yao
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  3. Jiawei Pang
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  4. Zixiang Cao
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Correspondence to Daoming Wang .

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Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Wang, D., Yao, L., Pang, J., Cao, Z. (2017). Design, Modeling and Analysis of a Magnetorheological Fluids-Based Soft Actuator for Robotic Joints. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10464. Springer, Cham. https://doi.org/10.1007/978-3-319-65298-6_67

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  • DOI: https://doi.org/10.1007/978-3-319-65298-6_67

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  • Publisher Name: Springer, Cham

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  • Online ISBN: 978-3-319-65298-6

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