Modeling and Motion Control of a Two-Directional-Rotational-Type ER Actuator

Abstract

ER fluid is a kind of functional fluid. The ER fluids have a unique characteristic, which changes its fheology characteristic to apply the electric fields. The property of the actuator using ER fluid is different from conventional actuators such as DC or AC servomotors. In this study, we developed a new actuator using particle-type ER fluid, which is caled ER actuator. The developed actuator can produce two directional torques. We derived the simple models of the ER actuator from reference torque to output torque and velocity characteristics. Then we verified the validity of the models and control performance of the actuator by conducting the velocity and position control experiments.