Magnetorheological fluids (MRFs) are functional fluids that exhibit rapid and repeatable rheological responses to external magnetic fields. An MRF has been used to develop a haptic device with fine haptic information for teleoperative surgical systems. To achieve this goal, we developed several types of compact MRF clutches for haptics (H-MRCs) and applied them to a twin-driven MRF actuator (TD-MRA). In addition, the three TD-MRAs were combined with a delta-type parallel linkage and constituted a delta-type haptic interface. A previous study investigated the basic structure and kinematic analysis of this haptic interface. However, a method for estimating the torque performance of H-MRCs has not yet been reported. Such techniques are necessary when selecting an MRF to improve the basic performance of a device. Therefore, we measured and modeled the rheological properties of the sample material. Next, the torque performance of the H-MRC was estimated using this model and the results of electromagnetic analyses. In addition, we improved the structure of the TD-MRA to minimize undesirable torque ripples. Consequently, the longitudinal metric decreased by 11.7% compared to the first prototype. In addition, except for the case of the lowest current input, the coefficients of variance of torque were successfully reduced by half owing to the redesign of the structure.
Development of Second Prototype of Magnetorheological Fluid Actuator for Fine Haptic Interfaces
Mechan. Machine Science
IFToMM International Symposium on Robotics and Mechatronics ; 2024 ; Djerba, Tunisia April 17, 2024 - April 19, 2024
2024-09-25
10 pages
Article/Chapter (Book)
Electronic Resource
English
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