摩擦的特性を利用したロボット関節のための磁気粘性流体デバイスの開発

抄録

In this research, a soft passive rotational joint using magneto-rheological fluid(MRF) is proposed. The proposed device has a rotational vane which allows us to utilize not only the shear mode of MRF but also its valve mode. Experimental results show that the proposed MR joint can adjust the yield torque (i.e. the torque at the zero-velocity) depending on the excitation current for magnetic flux coupling with MRF. FEM non-linear magnetic field analysis results show large magnetic flux leakage, which means that there is a room to improve the device by redesign the device structure.