Modeling and Motion Control of a Bidirectional -Rotational- Type ER Actuator | Zendy

Masamichi SAKAGUCHI | Zendy; Guoguang Zhang | Zendy; Junji FURUSHO | Zendy

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Modeling and Motion Control of a Bidirectional -Rotational- Type ER Actuator

Author(s) -

Masamichi SAKAGUCHI,

Guoguang Zhang,

Junji FURUSHO

Publication year - 2001

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2001.p0080

Subject(s) - actuator , rotary actuator , control theory (sociology) , torque , servomotor , plasma actuator , electrorheological fluid , computer science , engineering , physics , mechanical engineering , electric field , control (management) , voltage , artificial intelligence , electrical engineering , dielectric barrier discharge , quantum mechanics , thermodynamics

ER fluid is a unique functional fluid that changes its rheology when an electric field is applied. The property of an actuator using ER fluid is different from conventional actuators such as DC or AC servomotors. In this study, we developed a new actuator using ER particle-type fluid called an ER actuator. The developed actuator can produce two directional torques. We derived simple. models of the ER actuator from reference torque to output torque and velocity characteristics. Then we verified the validity of the models and control performance of the actuator by conducting the velocity and position control experiments.

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