ROBOT ACTUATOR CONTROL USING TWIN ER-CLUTCHES: A NEW EXPERIMENTAL FACILITY WITH VALIDATION OF COMPUTER MODELS

摘要

Flexibility and speed of response are two key requirements in the design of machinery for high-speed manufacturing operations. These two requirements are often conflicting and their resolution requires considerable ingenuity on the part of the designer. A novel actuator based upon the use of twin electro-rheological (ER) clutches is described together with its modification to control the motion (angular displacement, angular velocity) of a robot manipulator arm. The development of a new experimental facility involving the robot manipulator arm is described. In the basic twin ER clutch facility, the motion of a toothed belt is controlled by manipulating the electric field applied to each ER clutch. The belt, in turn, controls the angular position and velocity of the robot arm. The use of twin clutches allows motion to be imparted in opposite directions without the need for return springs or similar mechanisms.