<title>Electrorheological clutch for robotics applications: validation of mathematical model and preliminary control study</title>

Abstract

There is much current interest in the development of smart fluid clutches for use in the design of high speed machinery. In this paper, the authors employ an ER clutch mechanism in a robotic application. This clutch mechanism consists of twin ER clutches which are driven in opposite directions by two electric motors. By controlling the electric field applied to each clutch, it is possible to control the angular displacement of a robot arm. Before considering control, an established mathematical model is validated. The purpose of this model validation is to help design a control strategy for accurate positioning of the robot arm. Through the use of a Simulink program and a digital controller, both the simulated and experimental angular displacements are compared and shown to be in close agreement. Finally, the displacement response of the ER- driven and DC servo-actuatored robot arm are compared and conclusions are drawn as to the suitability of the ER clutch mechanism as a robotic actuator.