Please use this identifier to cite or link to this item: https://doi.org/10.1017/S0263574706002876
Title: Series damper actuator system based on MR fluid damper
Authors: Chew, C.-M. 
Hong, G.-S. 
Zhou, W.
Keywords: Bingham model
Force control
Impedance
Magneto-rheological fluid damper
Series damper actuator
Series elastic actuator
Issue Date: Nov-2006
Source: Chew, C.-M., Hong, G.-S., Zhou, W. (2006-11). Series damper actuator system based on MR fluid damper. Robotica 24 (6) : 699-710. ScholarBank@NUS Repository. https://doi.org/10.1017/S0263574706002876
Abstract: In our recent work, we have proposed a novel force control actuator system called series damper actuator (SDA). We have since built an SDA system based on magnetorheological fluid (MR) damper. In this paper, the dynamics property of SDA system based on the MR fluid damper (SMRDA) is investigated. The effect of the extra dynamics introduced by the MR fluid damper is revealed by comparing the SMRDA with the SDA system based on a linear Newtonian viscous damper (SNVDA). To linearize the constitutive property of the MR fluid damper, a modified Bingham model is proposed. A force feedback control loop is implemented after the linearization. An experimental SMRDA is built to illustrate the performance of the SDA system. © 2006 Cambridge University Press.
Source Title: Robotica
URI: http://scholarbank.nus.edu.sg/handle/10635/61277
ISSN: 02635747
DOI: 10.1017/S0263574706002876
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