Enlarging output of high torque controllable clutch using ER gel

Yudai Takata,Kenichi Koyanagi,Hidenobu Anzai,Koji Sakurai,Yasuhiro Kakinuma,Tatsuo Motoyoshi,Toru Oshima

Mechatronics and Automation（2012）

Cited 4|Views3

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Abstract

This study is concerned with the development of an Electro-Rheological (ER) Gel Linear Actuator (ERGLA) as the principle component of a high torque controllable clutch that has applications in robots that coexist with humans. Applying the ER gel to clutches in force transmission assembly decreases the inertia and mechanical limit of the maximum speed, enabling keeping high controllability. This paper focuses on enlarging the output torque of the clutch with ER gels, which is a the main part of the ERGLA.

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Key words

actuators,clutches,controllability,electrorheology,robots,torque,torque control,ergla,electrorheological gel linear actuator,force transmission assembly,inertia,mechanical limit,torque controllable clutch,clutch,er gel,functional material,linear actuator,soft actuator

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