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Series damper actuator system based on MR fluid damper

Published online by Cambridge University Press:  03 July 2006

Chee-Meng Chew ,
Geok-Soon Hong  and
Wei Zhou
Chee-Meng Chew
Affiliation:
Department of Mechanical Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117576 (Singapore)
Geok-Soon Hong
Affiliation:
Department of Mechanical Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117576 (Singapore)
Wei Zhou
Affiliation:
Department of Mechanical Engineering, National University of Singapore, 9 Engineering Drive 1, Singapore 117576 (Singapore)
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Abstract

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In our recent work, we have proposed a novel force control actuator system called series damper actuator (SDA). We have since built an SDA system based on magneto-rheological fluid (MR) damper. In this paper, the dynamics property of SDA system based on the MR fluid damper (SMRDA) is investigated. The effect of the extra dynamics introduced by the MR fluid damper is revealed by comparing the SMRDA with the SDA system based on a linear Newtonian viscous damper (SNVDA). To linearize the constitutive property of the MR fluid damper, a modified Bingham model is proposed. A force feedback control loop is implemented after the linearization. An experimental SMRDA is built to illustrate the performance of the SDA system.

Keywords

Series damper actuatorSeries elastic actuatorMagneto-rheological fluid damperBingham modelImpedanceForce control

Information

Type
Article
Information
Robotica , Volume 24 , Issue 6 , November 2006 , pp. 699 - 710
Copyright
2006 Cambridge University Press