磁性流体を用いた逆可動性を有するベーン形ロータリアクチュエータの開発

抄録

In this study, we propose a backdrivable rotatory actuator using magnetoreological fluids and several fundamental control modes for actual applications. The base design of this actuator is a vane motor considering the easiness of modification, and the passages needed for a variable viscosity mechanism are located in the vane because it can offer high backdrivability. The control modes are designed based on a finite state machine using PID control independently of the speed and force of the actuator. Several experiments are conducted to evaluate basic actuator's performance and controller's performance. The results indicated that the actuator could move adequately as the implemented control mode.