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首页> 外文期刊>Journal of intelligent material systems and structures >Development of Normally Closed Type of Magnetorheological Clutch and its Application to Safe Torque Control System of Human-Collaborative Robot
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Development of Normally Closed Type of Magnetorheological Clutch and its Application to Safe Torque Control System of Human-Collaborative Robot

机译：常闭型磁流变离合器的研制及其在人协同机器人安全转矩控制系统中的应用

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摘要

In this study, a normally closed (NC) type clutch using magnetorheological (MR) suspension and a rare-earth permanent magnet is proposed as a safety device for human-collaborative robots. This clutch can transmit an effective torque under various conditions and function as a holding brake and a changeable torque limiter. To design this clutch to achieve both good controllable characteristics and safety performance, the normally closed structure with a permanent magnet was realized by placing two facing magnetic poles asymmetrically for efficient generation of the magnetic field, and by adopting the multi-sheet rotor for the improvement of the torque output. As the analysis results show, it was confirmed that the three-sheet rotor obtained about 1.5 times torque output as much as the single-sheet rotor. When the exciting current was 0.8A, the transmitted torque marked the minimum; when the exiting current was 0A, the torque output of approx. 41 Nm was generated with the time constant of 0.15 s.
机译：在这项研究中，提出了一种使用磁流变（MR）悬架和稀土永磁体的常闭（NC）型离合器作为人类协作机器人的安全装置。该离合器可以在各种条件下传递有效扭矩，并用作保持制动器和可变扭矩限制器。为了将离合器设计成既具有良好的可控特性又具有安全性能，通过不对称地放置两个面对的磁极以有效产生磁场，并采用多片式转子来实现具有永磁体的常闭结构。扭矩输出。如分析结果所示，已证实三片式转子获得的转矩输出是单片式转子的约1.5倍。当励磁电流为0.8A时，传递的扭矩最小。当输出电流为0A时，扭矩输出约为产生的41 Nm的时间常数为0.15 s。

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