Investigation of a dexterous actuator integrated with magnetorheological bearings towards high switching frequency and fast response

摘要

Abstract Actuators are pivotal for empowering robots to execute a wide array of tasks and adapt to diverse surroundings. However, conventional actuators with a low switching frequency and a prolonged response time significantly comprise the adaptability of robots, restricting them to single operation conditions. This paper presents a solution to this issue by introducing a dexterous actuator integrated with magnetorheological bearings (referred to as MR actuator) for real-time controllable damping. Compared to conventional actuators, the MR actuator boasts exceptional dexterity, featuring a significantly-elevated switching frequency and swifter response time. To validate the remarkable dexterity of this MR actuator, rapid commutation tests and transient response experiments were conducted. Impressively, the MR actuator achieved a stable switching frequency of up to 10 Hz, surpassing that of conventional actuators (2 Hz). Moreover, it demonstrated a reduced response time and a heightened energy efficiency. Beyond robotics, applications of MR actuators are also found in areas requiring an improved machinery precision and production efficiency.