Passive Control of Rotary Actuator by MR Brake

Abstract

In this paper, the use of MR brakes as a driving device for safety control of human-collaborative robots is proposed. The MR brake is operated on MR fluid (magneto-rheological fluid) and electromagnet, it is a device with excellent responsiveness. Using the MR brakes as the power plant of a rotary actuator, several experiments controlling the rotation of shafts generated by a motor fitted with the MR brakes are conducted. From the result, we verify the control performance of the MR brakes, and describe the application of the MR brakes to safe control of human-collaborative robots.