HapticV1, PascalFrancis, Curation, bibRecord, 000D21

Spherical Brake with MR Fluid as Multi Degree of Freedom Actuator for Haptics

Identifieur interne : 000D21 ( PascalFrancis/Curation ); précédent : 000D20; suivant : 000D22

Spherical Brake with MR Fluid as Multi Degree of Freedom Actuator for Haptics

Auteurs : Doruk Senkal [États-Unis] ; Hakan Gurocak [États-Unis]

Source :

Journal of intelligent material systems and structures [ 1045-389X ] ; 2009.

RBID : Pascal:10-0047399

Descripteurs français

Pascal (Inist)
- Frein, Actionneur, Sensibilité tactile, Fluide magnétorhéologique, Rhéologie, Conception compacte, Liaison rotule, Freinage, Frottement sec, Contrainte contact, Réalité virtuelle, Equipement entrée sortie, Système n degrés liberté, Force réaction, Diamètre, Simulation ordinateur, Levier commande, Mesure optique, Mesure position, Etude expérimentale, Essai qualification, ..
Wicri :
- topic : Réalité virtuelle.

English descriptors

KwdEn :
- Actuator, Ball joint, Brake, Braking, Compact design, Computer simulation, Contact stress, Control lever, Diameter, Dry friction, Experimental study, Input output equipment, Magnetorheological fluid, Optical measurement, Position measurement, Prototype tests, Reaction force, Rheology, System with n degrees of freedom, Tactile sensitivity, Virtual reality.

Abstract

This research explored design of a magnetorheological (MR) spherical brake as a multi-DOF actuator. To the best of our knowledge, our design is the first ever multi-DOF spherical brake using MR fluid. The primary goal was to design a compact but powerful brake using the serpentine flux path approach. An optical position measurement system was also designed to eliminate the gimbal mechanisms that are typically used in spherical joints for position measurement. It was found that the braking torque scales up proportionally to the cube of the brake radius. This enables making much more powerful brakes without increasing the overall size significantly. A prototype spherical brake was built with 76.2 mm diameter and 3.7 Nm braking torque. Experiments were conducted to identify the characteristics of the prototype brake and to test it in virtual wall collision, damping and Coulomb friction simulations for haptics. A joystick was built as a haptic device using the MR spherical brake. Virtual wall collision experiments showed crisp reaction force at initial contact and very high rigidity during the contact.

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A03		`1`		`@0 J. intell. mater. syst. struct.`
A05				`@2 20`
A06				`@2 18`
A08	`01`	`1`	`ENG`	`@1 Spherical Brake with MR Fluid as Multi Degree of Freedom Actuator for Haptics`
A11	`01`	`1`		`@1 SENKAL (Doruk)`
A11	`02`	`1`		`@1 GUROCAK (Hakan)`
A14	`01`			`@1 School of Engineering and Computer Science, Washington State University 14204 NE Salmon Creek Ave. @2 Vancouver, WA 98686 @3 USA @Z 1 aut. @Z 2 aut.`
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C01	`01`		`ENG`	@0 This research explored design of a magnetorheological (MR) spherical brake as a multi-DOF actuator. To the best of our knowledge, our design is the first ever multi-DOF spherical brake using MR fluid. The primary goal was to design a compact but powerful brake using the serpentine flux path approach. An optical position measurement system was also designed to eliminate the gimbal mechanisms that are typically used in spherical joints for position measurement. It was found that the braking torque scales up proportionally to the cube of the brake radius. This enables making much more powerful brakes without increasing the overall size significantly. A prototype spherical brake was built with 76.2 mm diameter and 3.7 Nm braking torque. Experiments were conducted to identify the characteristics of the prototype brake and to test it in virtual wall collision, damping and Coulomb friction simulations for haptics. A joystick was built as a haptic device using the MR spherical brake. Virtual wall collision experiments showed crisp reaction force at initial contact and very high rigidity during the contact.
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C03	`01`	`X`	`ENG`	`@0 Brake @5 06`
C03	`01`	`X`	`SPA`	`@0 Freno @5 06`
C03	`02`	`X`	`FRE`	`@0 Actionneur @5 07`
C03	`02`	`X`	`ENG`	`@0 Actuator @5 07`
C03	`02`	`X`	`SPA`	`@0 Accionador @5 07`
C03	`03`	`X`	`FRE`	`@0 Sensibilité tactile @5 08`
C03	`03`	`X`	`ENG`	`@0 Tactile sensitivity @5 08`
C03	`03`	`X`	`SPA`	`@0 Sensibilidad tactil @5 08`
C03	`04`	`X`	`FRE`	`@0 Fluide magnétorhéologique @5 09`
C03	`04`	`X`	`ENG`	`@0 Magnetorheological fluid @5 09`
C03	`04`	`X`	`SPA`	`@0 Fluido magnetoreologico @5 09`
C03	`05`	`X`	`FRE`	`@0 Rhéologie @5 10`
C03	`05`	`X`	`ENG`	`@0 Rheology @5 10`
C03	`05`	`X`	`SPA`	`@0 Reología @5 10`
C03	`06`	`X`	`FRE`	`@0 Conception compacte @5 11`
C03	`06`	`X`	`ENG`	`@0 Compact design @5 11`
C03	`06`	`X`	`SPA`	`@0 Concepción compacta @5 11`
C03	`07`	`X`	`FRE`	`@0 Liaison rotule @5 12`
C03	`07`	`X`	`ENG`	`@0 Ball joint @5 12`
C03	`07`	`X`	`SPA`	`@0 Articulacion de rótulas @5 12`
C03	`08`	`X`	`FRE`	`@0 Freinage @5 13`
C03	`08`	`X`	`ENG`	`@0 Braking @5 13`
C03	`08`	`X`	`SPA`	`@0 Frenado @5 13`
C03	`09`	`X`	`FRE`	`@0 Frottement sec @5 14`
C03	`09`	`X`	`ENG`	`@0 Dry friction @5 14`
C03	`09`	`X`	`SPA`	`@0 Frotamiento seco @5 14`
C03	`10`	`X`	`FRE`	`@0 Contrainte contact @5 15`
C03	`10`	`X`	`ENG`	`@0 Contact stress @5 15`
C03	`10`	`X`	`SPA`	`@0 Tensión contacto @5 15`
C03	`11`	`X`	`FRE`	`@0 Réalité virtuelle @5 16`
C03	`11`	`X`	`ENG`	`@0 Virtual reality @5 16`
C03	`11`	`X`	`SPA`	`@0 Realidad virtual @5 16`
C03	`12`	`X`	`FRE`	`@0 Equipement entrée sortie @5 18`
C03	`12`	`X`	`ENG`	`@0 Input output equipment @5 18`
C03	`12`	`X`	`SPA`	`@0 Equipo entrada salida @5 18`
C03	`13`	`X`	`FRE`	`@0 Système n degrés liberté @5 20`
C03	`13`	`X`	`ENG`	`@0 System with n degrees of freedom @5 20`
C03	`13`	`X`	`SPA`	`@0 Sistema n grados libertad @5 20`
C03	`14`	`X`	`FRE`	`@0 Force réaction @5 21`
C03	`14`	`X`	`ENG`	`@0 Reaction force @5 21`
C03	`14`	`X`	`SPA`	`@0 Fuerza reacción @5 21`
C03	`15`	`X`	`FRE`	`@0 Diamètre @5 23`
C03	`15`	`X`	`ENG`	`@0 Diameter @5 23`
C03	`15`	`X`	`SPA`	`@0 Diámetro @5 23`
C03	`16`	`X`	`FRE`	`@0 Simulation ordinateur @5 24`
C03	`16`	`X`	`ENG`	`@0 Computer simulation @5 24`
C03	`16`	`X`	`SPA`	`@0 Simulación computadora @5 24`
C03	`17`	`X`	`FRE`	`@0 Levier commande @5 27`
C03	`17`	`X`	`ENG`	`@0 Control lever @5 27`
C03	`17`	`X`	`SPA`	`@0 Palanca de mando @5 27`
C03	`18`	`X`	`FRE`	`@0 Mesure optique @5 33`
C03	`18`	`X`	`ENG`	`@0 Optical measurement @5 33`
C03	`18`	`X`	`SPA`	`@0 Medida óptica @5 33`
C03	`19`	`X`	`FRE`	`@0 Mesure position @5 34`
C03	`19`	`X`	`ENG`	`@0 Position measurement @5 34`
C03	`19`	`X`	`SPA`	`@0 Medición posición @5 34`
C03	`20`	`X`	`FRE`	`@0 Etude expérimentale @5 35`
C03	`20`	`X`	`ENG`	`@0 Experimental study @5 35`
C03	`20`	`X`	`SPA`	`@0 Estudio experimental @5 35`
C03	`21`	`X`	`FRE`	`@0 Essai qualification @5 36`
C03	`21`	`X`	`ENG`	`@0 Prototype tests @5 36`
C03	`21`	`X`	`SPA`	`@0 Prueba calificación @5 36`
C03	`22`	`X`	`FRE`	`@0 . @4 INC @5 82`
N21				`@1 032`
N44	`01`			`@1 OTO`
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Le document en format XML

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<front><div type="abstract" xml:lang="en">This research explored design of a magnetorheological (MR) spherical brake as a multi-DOF actuator. To the best of our knowledge, our design is the first ever multi-DOF spherical brake using MR fluid. The primary goal was to design a compact but powerful brake using the serpentine flux path approach. An optical position measurement system was also designed to eliminate the gimbal mechanisms that are typically used in spherical joints for position measurement. It was found that the braking torque scales up proportionally to the cube of the brake radius. This enables making much more powerful brakes without increasing the overall size significantly. A prototype spherical brake was built with 76.2 mm diameter and 3.7 Nm braking torque. Experiments were conducted to identify the characteristics of the prototype brake and to test it in virtual wall collision, damping and Coulomb friction simulations for haptics. A joystick was built as a haptic device using the MR spherical brake. Virtual wall collision experiments showed crisp reaction force at initial contact and very high rigidity during the contact.</div>
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<fC01 i1="01" l="ENG"><s0>This research explored design of a magnetorheological (MR) spherical brake as a multi-DOF actuator. To the best of our knowledge, our design is the first ever multi-DOF spherical brake using MR fluid. The primary goal was to design a compact but powerful brake using the serpentine flux path approach. An optical position measurement system was also designed to eliminate the gimbal mechanisms that are typically used in spherical joints for position measurement. It was found that the braking torque scales up proportionally to the cube of the brake radius. This enables making much more powerful brakes without increasing the overall size significantly. A prototype spherical brake was built with 76.2 mm diameter and 3.7 Nm braking torque. Experiments were conducted to identify the characteristics of the prototype brake and to test it in virtual wall collision, damping and Coulomb friction simulations for haptics. A joystick was built as a haptic device using the MR spherical brake. Virtual wall collision experiments showed crisp reaction force at initial contact and very high rigidity during the contact.</s0>
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<s5>06</s5>
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<s5>07</s5>
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<s5>07</s5>
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<fC03 i1="02" i2="X" l="SPA"><s0>Accionador</s0>
<s5>07</s5>
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<fC03 i1="03" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>08</s5>
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<fC03 i1="03" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>08</s5>
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<fC03 i1="03" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>08</s5>
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<fC03 i1="04" i2="X" l="FRE"><s0>Fluide magnétorhéologique</s0>
<s5>09</s5>
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<fC03 i1="04" i2="X" l="ENG"><s0>Magnetorheological fluid</s0>
<s5>09</s5>
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<s5>09</s5>
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<s5>10</s5>
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<s5>10</s5>
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<fC03 i1="06" i2="X" l="FRE"><s0>Conception compacte</s0>
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<s5>14</s5>
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<fC03 i1="10" i2="X" l="FRE"><s0>Contrainte contact</s0>
<s5>15</s5>
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<fC03 i1="10" i2="X" l="ENG"><s0>Contact stress</s0>
<s5>15</s5>
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<fC03 i1="11" i2="X" l="ENG"><s0>Virtual reality</s0>
<s5>16</s5>
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<s5>16</s5>
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<fC03 i1="12" i2="X" l="FRE"><s0>Equipement entrée sortie</s0>
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<fC03 i1="12" i2="X" l="SPA"><s0>Equipo entrada salida</s0>
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</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>System with n degrees of freedom</s0>
<s5>20</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Sistema n grados libertad</s0>
<s5>20</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Force réaction</s0>
<s5>21</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Reaction force</s0>
<s5>21</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Fuerza reacción</s0>
<s5>21</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Diamètre</s0>
<s5>23</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Diameter</s0>
<s5>23</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Diámetro</s0>
<s5>23</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Simulation ordinateur</s0>
<s5>24</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Computer simulation</s0>
<s5>24</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Simulación computadora</s0>
<s5>24</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Levier commande</s0>
<s5>27</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Control lever</s0>
<s5>27</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Palanca de mando</s0>
<s5>27</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>Mesure optique</s0>
<s5>33</s5>
</fC03>
<fC03 i1="18" i2="X" l="ENG"><s0>Optical measurement</s0>
<s5>33</s5>
</fC03>
<fC03 i1="18" i2="X" l="SPA"><s0>Medida óptica</s0>
<s5>33</s5>
</fC03>
<fC03 i1="19" i2="X" l="FRE"><s0>Mesure position</s0>
<s5>34</s5>
</fC03>
<fC03 i1="19" i2="X" l="ENG"><s0>Position measurement</s0>
<s5>34</s5>
</fC03>
<fC03 i1="19" i2="X" l="SPA"><s0>Medición posición</s0>
<s5>34</s5>
</fC03>
<fC03 i1="20" i2="X" l="FRE"><s0>Etude expérimentale</s0>
<s5>35</s5>
</fC03>
<fC03 i1="20" i2="X" l="ENG"><s0>Experimental study</s0>
<s5>35</s5>
</fC03>
<fC03 i1="20" i2="X" l="SPA"><s0>Estudio experimental</s0>
<s5>35</s5>
</fC03>
<fC03 i1="21" i2="X" l="FRE"><s0>Essai qualification</s0>
<s5>36</s5>
</fC03>
<fC03 i1="21" i2="X" l="ENG"><s0>Prototype tests</s0>
<s5>36</s5>
</fC03>
<fC03 i1="21" i2="X" l="SPA"><s0>Prueba calificación</s0>
<s5>36</s5>
</fC03>
<fC03 i1="22" i2="X" l="FRE"><s0>.</s0>
<s4>INC</s4>
<s5>82</s5>
</fC03>
<fN21><s1>032</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
</inist>
</record>

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Spherical Brake with MR Fluid as Multi Degree of Freedom Actuator for Haptics

Spherical Brake with MR Fluid as Multi Degree of Freedom Actuator for Haptics

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