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).
An application of magnetorheological devices in robotics
BRANCATI, RENATO;RUSSO, RICCARDO;SAVINO, Sergio
2012
Abstract
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.