In the paper an application of the magnetorheological devices in the robotics field is proposed. The aim of the activity was to study the possibility to correct the errors of a common position control by means of a joint consisting of a magnetorheological clutch and a magnetorheological brake. The use of such a device introduces the possibility of having a check also on the torques that are transmitted by the motors. In the paper a model of 2 d.o.f. planar manipulator with magnetorheological joints is described, it was developed for the above investigation, and the first simulation results are presented.
An application of magnetorheological devices in robotics / Brancati, Renato; Russo, Riccardo; Savino, Sergio. - (2012), pp. 377-383. (Intervento presentato al convegno Raad 2012 tenutosi a napoli nel 10-13 settembre 2012).