Modeling and Motion Control of a Bidirectional -Rotational- Type ER Actuator

Masamichi Sakaguchi, Guoguang Zhang, and Junji Furusho

Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka, 565-0871 Japan

Received:

November 16, 2000

Accepted:

December 25, 2000

Published:

February 20, 2001

Keywords:

actuator, mechatronics, ER fluid, modeling, motion control, clutch

Abstract

ER fluid is a unique functional fluid that changes its rheology when an electric field is applied. The property of an actuator using ER fluid is different from conventional actuators such as DC or AC servomotors. In this study, we developed a new actuator using ER particle-type fluid called an ER actuator. The developed actuator can produce two directional torques. We derived 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.

Cite this article as:

M. Sakaguchi, G. Zhang, and J. Furusho, “Modeling and Motion Control of a Bidirectional -Rotational- Type ER Actuator,” J. Robot. Mechatron., Vol.13 No.1, pp. 80-87, 2001.

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