NDLI: Development and analysis of actuator with ER damper

Content Provider	IEEE Xplore Digital Library
Author	Takesue, N. Guoguang Zhang Sakaguchi, M. Junji Furusho Kiyosawa, Y.
Copyright Year	2000
Description	Author affiliation: Graduate Sch. of Eng., Osaka Univ., Japan (Takesue, N.)
Abstract	In industrial robots, each joint is driven through a reduction gear unit such as a harmonic drive gear. The elasticity of the drive systems cannot be ignored when the high-speed and precise motion control is required for robots. Due to the elasticity of the drive systems, vibratory behaviors are caused, and the control performances of robot systems deteriorate. In this study, we develop a new actuator that consists of an AC servomotor, a harmonic drive gear and an electrorheological (ER) damper. The ER damper can change the damping coefficient by applying an electric field. Since the gap between electrodes of the ER damper is 80 /spl mu/m only the voltage of 160 V is needed for the electric field of 2 kV/mm. The ER damper consumes little electric power. The actuator is installed on a one-link robot arm. The mathematical model of the robot arm is derived, and the eigenvalues of the robot system are analyzed. Experiments were carried out, and the effectiveness of the actuator is confirmed.
Starting Page	1328
Ending Page	1333
File Size	435858
Page Count	6
File Format	PDF
ISBN	0780358864
ISSN	10504729
DOI	10.1109/ROBOT.2000.844782
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-04-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Erbium Damping Shock absorbers Gears Service robots Elasticity Electric fields Electrical equipment industry Motion control
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

An electrorheological fluid damper for robots

Modeling and motion control of an actuator unit using ER clutches

A variable physical damping actuator (VPDA) for compliant robotic joints

Vibration suppression control of robot arms using a homogeneous-type electrorheological fluid

Precise position control of robot arms using a homogeneous ER fluid

High stiffness control of direct-drive motor system by a homogeneous ER fluid

An electrorheological fluid damper for vibration control

Development of an above knee prosthesis using MR damper and leg simulator

Autonomous cruise control of circulating multi-robot for congestion

Development and analysis of actuator with ER damper

Similar Documents

An electrorheological fluid damper for robots

Modeling and motion control of an actuator unit using ER clutches

A variable physical damping actuator (VPDA) for compliant robotic joints

Vibration suppression control of robot arms using a homogeneous-type electrorheological fluid

Precise position control of robot arms using a homogeneous ER fluid

High stiffness control of direct-drive motor system by a homogeneous ER fluid

An electrorheological fluid damper for vibration control

Development of an above knee prosthesis using MR damper and leg simulator

Autonomous cruise control of circulating multi-robot for congestion

Development and analysis of actuator with ER damper