27 April 2011 Optimal design of a hybrid MR brake for haptic wrist application
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In this work, a new configuration of a magnetorheological (MR) brake is proposed and an optimal design of the proposed MR brake for haptic wrist application is performed considering the required braking torque, the zero-field friction torque, the size and mass of the brake. The proposed MR brake configuration is a combination of disc-type and drum-type which is referred as a hybrid configuration in this study. After the MR brake with the hybrid configuration is proposed, braking torque of the brake is analyzed based on Bingham rheological model of the MR fluid. The zero-field friction torque of the MR brake is also obtained. An optimization procedure based on finite element analysis integrated with an optimization tool is developed for the MR brake. The purpose of the optimal design is to find the optimal geometric dimensions of the MR brake structure that can produce the required braking torque and minimize the uncontrollable torque (passive torque) of the haptic wrist. Based on developed optimization procedure, optimal solution of the proposed MR brake is achieved. The proposed optimized hybrid brake is then compared with conventional types of MR brake and discussions on working performance of the proposed MR brake are described.
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Quoc Hung Nguyen, Phuong Bac Nguyen, and Seung-Bok Choi "Optimal design of a hybrid MR brake for haptic wrist application", Proc. SPIE 7977, Active and Passive Smart Structures and Integrated Systems 2011, 797718 (27 April 2011); doi: 10.1117/12.880396; https://doi.org/10.1117/12.880396

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