A system for controlling a tension of a tether between an object and a load tethered to the object comprises magnetorheological (MR) fluid actuator unit(s) including at least one torque source and at least one MR fluid clutch apparatus coupled to the at least one torque source to receive torque from the at least one torque source, the MR fluid clutch apparatus controllable to transmit a variable amount of torque via an output of the MR fluid actuator unit. A tensioning member is connected to the output so as to be pulled by the output member upon actuation of the magnetorheological fluid clutch apparatus, a free end of the tensioning member adapted to exert a pulling action when being pulled by the output member. Sensor(s) provide information indicative of a relation between the object and the load tethered to the object. A controller controls the at least one MR fluid clutch apparatus in exerting the pulling action based on said information.
TETHERED PAYLOAD MOTION CONTROL AND CABLE ROBOT USING MAGNETORHEOLOGICAL ACTUATORS
BEWEGUNGSSTEUERUNG FÜR ANGEBUNDENE NUTZLAST UND KABELROBOTER MIT MAGNETORHEOLOGISCHEN AKTUATOREN
COMMANDE DE MOUVEMENT DE CHARGE UTILE ATTACHÉE ET ROBOT À CÂBLES UTILISANT DES ACTIONNEURS MAGNÉTORHÉOLOGIQUES
2024-02-28
Patent
Electronic Resource
English
IPC: | F16D COUPLINGS FOR TRANSMITTING ROTATION , Nicht schaltbare Kupplungen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / H02N Elektrische Maschinen, soweit nicht anderweitig vorgesehen , ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR / B66C Krane , CRANES / B66D Haspeln , CAPSTANS / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT |
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