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Development Of Mr Clutch For A Prospective 5-Dof Robot, Sergey Pisetskiy, Mehrdad Kermani Ph.D., P.Eng.
Development Of Mr Clutch For A Prospective 5-Dof Robot, Sergey Pisetskiy, Mehrdad Kermani Ph.D., P.Eng.
Electrical and Computer Engineering Publications
This paper presents an improved design approach for the construction of a Magneto-Rheological (MR) clutch intended to be used in a prospective 5 degrees of freedom robot. The MR clutch features embedded Hall sensors for intrinsic torque control. After a brief description of the MR clutch principles, the details of the mechanical design are discussed. Simulation and preliminary experimental results demonstrate the main characteristics and advantages of the proposed MR clutch.