1304 位置フィードバック機構を内蔵したERマイクロアクチュエータの開発(マイクロアクチュエータ,一般講演)

概要

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The paper proposes and develops a novel smart ER microactuator having an inherent position feedback mechanism. The proposed actuator consists of a pair of movable and fixed parallel plate electrodes with variable gap length and an upstream restrictor. The applied voltage increases the electrode gap length or the output displacement with pressure increase due to viscosity increase of the ERF (electro-rheological fluid). In addition, the actuator has position feedback function to suppress the displacement due to an external force with pressure change due to change of the flow resistance between the electrodes. In this paper, the mathematical model is derived and the feasibility is confirmed through simulations. Then, an actuator with 10 mm diameter is designed, fabricated and characterized.
社団法人日本機械学会の論文
2008-04-20