Mathematic Modeling and Optimal Design of a Magneto-Rheological Clutch for the Compliant Actuator in Physical Robot Interactions

摘要

Magneto-rheological actuators equipped with magneto-rheological clutches (MRCs) are newly used in robots to provide intrinsic compliance and sense human contacts. However, using the favorite finite element analysis (FEA) method to analyze and design MRCs is very computationally expensive and greatly depends upon the engineering experience and software skills of the researchers. In this letter,a novel mathematic and multidisciplinary modeling (magnetic and thermal modeling) method of an MRC is proposed. Benefitting from the mathematic model, MRCs can be mathematically depicted with its input current and structural parameters. So, deep insights into MRCs can be easily achieved just within a second, and fast and multidisciplinary optimal and global design can be realized combining the genetic algorithm. The proposed method is validated from both the FEA simulations and experiments on the optimally designed prototype.