Engineering Commons^™

Mechanical Design And Development Of A Compliant 5-Dof Manipulator Using Magneto-Rheological Actuators, Sergey Pisetskiy

Electronic Thesis and Dissertation Repository

Compliance in robotic systems became a very important and desirable characteristic in recent years. Existing compliant actuation approaches have either limited performance or significant mechanical and control complexity. Keeping high performance while maintaining the necessary level of compliance at low cost and minimum complexity is a challenging goal that should be achieved to boost the propagation of human-safe robots and systems capable to perform delicate tasks in an unknown environment.

This study presents a novel five degrees-of-freedom compliant manipulator. The compliancy of the manipulator is achieved using antagonistically working pairs of magneto-rheological (MR) clutches in each joint of the robot. …

Design Of A Haptic Interface For Medical Applications Using Magneto-Rheological Fluid Based Actuators, Nima Najmaei

Electronic Thesis and Dissertation Repository

This thesis reports on the design, construction, and evaluation of a prototype two degrees-of-freedom (DOF) haptic interface, which takes advantage of Magneto-Rheological Fluid (MRF) based clutches for actuation. Haptic information provides important cues in teleoperated systems and enables the user to feel the interaction with a remote or virtual environment during teleoperation. The two main objectives in designing a haptic interface are stability and transparency. Indeed, deficiencies in these factors in haptics-enabled telerobotic systems has the introduction of haptics in medical environments where safety and reliability are prime considerations. An actuator with poor dynamics, high inertia, large size, and heavy …