Development of Multiple-disk Type MR Fluid Brake with Three Modules for Wearable Robots Driving Part

摘要

The device using MR fluid provides high torque compared to the volume and fast response characteristics. This paper limits the design parameters and sets the target torque to apply the MR brake to the wearable robot driving part. The developed MR brake is designed to determine design parameters using mathematical modeling and to generate a higher torque than the volume by applying a multiple-disk in the modular structure. The design model was magnetic analysis using ANSYS Maxwell and predicted the torque that was generated from the analysis results. Two testbeds were constructed, one to verify the performance of the manufactured MR brake and the other to check the generated torque and response characteristics according to the applied voltage. The experimental results show that the MR fluid brake produced is an efficient structure for generating high torque compared to the volume. It is confirmed that a fast response of the ms (millisecond) unit and a stable torque drive are possible through the confirmation of the response characteristics.