Electrical and Computer Engineering Publications
Document Type
Conference Proceeding
Publication Date
Fall 10-1-2018
Journal
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
URL with Digital Object Identifier
https://doi.org/10.1109/IROS.2018.8593582
Abstract
This paper presents an improved design approach for the construction of a Magneto-Rheological (MR) clutch intended to be used in a prospective 5 degrees of freedom robot. The MR clutch features embedded Hall sensors for intrinsic torque control. After a brief description of the MR clutch principles, the details of the mechanical design are discussed. Simulation and preliminary experimental results demonstrate the main characteristics and advantages of the proposed MR clutch.