The Application of Electro-Rheological Fluids to the Robot Control

概要

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Winslow's Effect is defined as an essentially instateneous reversible change in apparent viscosity when a fluid is subjected to an externally applied electric field. ER (Electro-Rheological) fluids that show an extreme increase in viscosity could be employed as new functional materials and are target for competitive development worldwide. Fundamentally, ER fluids are to drive clutches and hydraulic valves which can control torque and the pressure respectively only by application of a high voltage. In one recent application which received keen attention ER fluids were used in an engine mount with an active vibration control function. However, ER fluids should not be seen simply as a means of controlling uncomfortable ribration. They can be expected to have a vast range of applications as elements for highly functional servo control systems. Here, specific characteristics of ER fluids are reviewed, and new applications developed for servo systems are introduced. Regarding the effectiveness of ER fluids, the greatly improved capacity for control that can result from their use in servo systems is demonstrated by their application in the case of a robot with a pneumatic manipulation system.
日本混相流学会の論文