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1

Design and characterization of a soft magneto-rheological miniature shock absorber for a controllable variable stiffness sole

Grivon D., Civet Y., Pataky Z., Perriard Y.

Archives of Electrical Engineering

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2015

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Vol. 64, nr 4

547--558

EN

The proposed paper discusses the design and characterization of a soft miniature Magneto-Rheological (MR) shock absorber. In particular, the final application considered for the insertion of the designed devices is a controllable variable stiffness sole for patients with foot neuropathy. Such application imposes particularly challenging constraints in terms of miniaturization (cross-sectional area ≤ 1.5 cm2, height ≤ 25 mm) and high sustainable loads (normal loads up to 60 N and shear stresses at the foot/device interface up to 80 kPa) while ensuring moderate to low level of power consumption. Initial design considerations are done to introduce and justify the chosen novel configuration of soft shock absorber embedding a MR valve as the core control element. Successively, the dimensioning of two different MR valves typologies is discussed. In particular, for each configuration two design scenarios are evaluated and consequently two sets of valves satisfying different specifications are manufactured. The obtained prototypes result in miniature modules (external diam. ≤ 15 mm, overall height ≤ 30 mm) with low power consumption (from a minimum of 63 mW to a max. of 110 mW) and able to sustain a load up to 65 N. Finally, experimental sessions are performed to test the behaviour of the realized shock absorbers and results are presented.

2

Experimental verification of the semi-active control concepts for torsional vibrations of the electro-mechanical system using rotary magneto-rheological actuators

Pręgowska A., Konowrocki R., Szolc T.

Vibrations in Physical Systems

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2012

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Vol. 25

329--334

EN

In the paper semi-active control of torsional vibrations of the rotating machine drive system driven by an electric motor is performed by means of rotary actuators with the magneto-rheological fluid. The main purpose of these studies is a minimisation of vibration amplitudes in order to increase the fatigue durability of the most responsible elements, assure possibly precise motion of the driven machine working tool as well as to reduce a generated noise level. For suppression of steady-state torsional vibrations excited by dynamic external torques generated by the motor and by the driven object there are proposed control strategies based on a principle of optimum current damping coefficient values realized by the magneto-rheological fluid. The theoretical control concepts are experimentally verified using the laboratory test rig in the form of drive system co-operating with two asynchronous motors generating properly programmed driving and retarding electromagnetic torques.

3

Neural network modeling of the semi-active magneto-rheological fluid damper

Nabagło T., Pietraszek J.

Czasopismo Techniczne. Mechanika

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2010

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R. 107, z. 2-M

193-201

EN

The paper describes model of a semi-active damper based on Magneto-Rheological Fluid (MRF). This model is constructed in a neural networks (NN) system. Such a solution is used because of nonlinear character of the MRF damper elements. The result of research and calculations exposes ways to solve problems connected with this kind of modeling processes. In the final part of the paper, the authors compare results of the NN model verification process with real MRF damper force to velocity characteristics. The article is a complete description of nonlinear model construction with usage of Radial Basis neural Networks (RBN).

PL

W artykule opisano model tłumika pół-aktywnego opartego na płynach magneto-reologicznych (MR). Model ten zbudowano za pomocą sieci neuronowych. Ze względu na nieliniowy charakter tłumików MR zastosowano modelowanie neuronowe tłumików. Na podstawie badań zaprezentowano sposoby rozwiązywania problemów związanych z tego rodzaju modelowaniem. W końcowej części artykułu autorzy porównują w procesie weryfikacji charakterystykę siły do prędkości wynikłą z symulacji modelu neuronowego z charakterystyką rzeczywistego tłumika MR. Artykuł stanowi kompletny opis konstrukcji modelu tłumika MR za pomocą sieci neuronowej o podstawie radialnej.

4

Sterowanie ramieniem robota za pomocą wieloosiowego dżojstika dotykowego z cieczą magnetoreologiczną i siłowym sprzężeniem zwrotnym

Chciuk M.

Pomiary Automatyka Robotyka

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2008

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R. 12, nr 2

736--744

PL

W artykule opisano wybrane urządzenia dotykowe. Przedstawiono budowę wykorzystywanego do badań robota. Końcowa część artykułu zawiera opisy konstrukcji wieloosiowego dżojstika dotykowego, badań obrotowych hamulców z cieczą magnetoreologiczną oraz układu sterowania robotem.

EN

The article describes selected existing haptic devices and briefly features the construction of the robot used in the research. The last section includes multiaxial haptic joystick’s specification, studies of rotary dampers with magnetorheological fluid and description of robot’s control system.