繊細ハプティックデバイスの開発のための各種MR流体のレオロジー特性の計測と評価

抄録

In this study, we have developed actuators that enable fine force control using magnetorheological (MR) fluids. For the various MR fluids used in these actuators, we proposed a method for measuring short- and long-term torque characteristics for haptic devices. The constant-current test to evaluate filling performance was conducted as a short-term test. The repetition test to evaluate reproducibility based on the coefficient of variation was conducted as a long-term test. These tests were conducted using a small, multi-layered disk-shaped MR fluid clutch. In this paper, we used a new MR fluid with different sizes of ferromagnetic particles contained in the MR fluid and measured the flow characteristics of the two different types of MR fluids. Based on the proposed measurement method, evaluation tests of the torque characteristics of the device were conducted. According to the long-term test, all the coefficient of variations were from 1.0 to 1.2 % within our experiments.