Development of MR Clutch for a Prospective 5 DOF Robot

Sergey Pisetskiy; Mehrdad R. Kermani

IROS 2018poster4 citations

Development of MR Clutch for a Prospective 5 DOF Robot

Abstract

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.

BibTeX

@inproceedings{iros2018_developmentofmrc,
  title = {Development of MR Clutch for a Prospective 5 DOF Robot},
  author = {Sergey Pisetskiy and Mehrdad R. Kermani},
  booktitle = {IROS 2018},
  year = {2018}
}