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Modeling and Motion Control of a Bidirectional -Rotational- Type ER Actuator
Masamichi Sakaguchi, Guoguang Zhang, and Junji Furusho
Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka, 565-0871 Japan
Received:November 16, 2000Accepted:December 25, 2000Published:February 20, 2001
Keywords:actuator, mechatronics, ER fluid, modeling, motion control, clutch
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.
Cite this article as:M. Sakaguchi, G. Zhang, and J. Furusho, “Modeling and Motion Control of a Bidirectional -Rotational- Type ER Actuator,” J. Robot. Mechatron., Vol.13 No.1, pp. 80-87, 2001.Data files:
Copyright© 2001 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.