Investigation of a dexterous actuator integrated with magnetorheological bearings towards high switching frequency and fast response
Publication Name
Smart Materials and Structures
Abstract
Actuators are pivotal for empowering robots to execute a wide array of tasks and adapt to diverse surroundings. However, conventional actuators with a low switching frequency and a prolonged response time significantly comprise the adaptability of robots, restricting them to single operation conditions. This paper presents a solution to this issue by introducing a dexterous actuator integrated with magnetorheological bearings (referred to as MR actuator) for real-time controllable damping. Compared to conventional actuators, the MR actuator boasts exceptional dexterity, featuring a significantly-elevated switching frequency and swifter response time. To validate the remarkable dexterity of this MR actuator, rapid commutation tests and transient response experiments were conducted. Impressively, the MR actuator achieved a stable switching frequency of up to 10 Hz, surpassing that of conventional actuators (2 Hz). Moreover, it demonstrated a reduced response time and a heightened energy efficiency. Beyond robotics, applications of MR actuators are also found in areas requiring an improved machinery precision and production efficiency.
Open Access Status
This publication is not available as open access
Volume
33
Issue
6
Article Number
065026
Funding Number
WK248 0000009
Funding Sponsor
Fundamental Research Funds for the Central Universities