• Transactions of The Korea Fluid Power Systems Society
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• v.1 no.1
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• pp.17-22
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• 2004

The goal of this paper is to improve the position control performance of pneumatic rotary actuator with variable brake using Magneto-Rheological Fluid. The air compressibility and the lack of damping of the pneumatic actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In this study, a variable rotary brake comprising Magneto-Rheological Fluid is equipped to the joint of a pneumatic manipulator. Experiments of step response have proved that the transient response of the manipulator could be improved compared with that of the conventional control algorithm by using a phase plane switching control algorithm.

• 유공압시스템학회:학술대회논문집
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• 2010.06a
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• pp.105-108
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• 2010

In this study, a MR(Magneto-rheological) brake to obtain high torque-to-size ratio instead of conventional powder brake is presented for high-tension control of converting machinery such as coater, slitter and so on. First, to obtain the higher performance than conventional powder brake, a MR brake with a modified rotor shape is newly designed and analyzed by using electromagnetic field analysis. Second, a prototype of the MR brake is fabricated with the optimized structural parameters and an experimental apparatus is constructed. Finally, basic characteristics between current and torque are experimentally investigated.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.572-575
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• 2005

A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. In order to realize satisfactory control performance, a variable damper Magneto Rheological Brake (MRB), Is equipped to the Joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.26 no.6_spc
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• pp.660-666
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• 2016

This paper presents performance comparison results of magneto-rheological (MR) brake in the sense of wear characteristics. To create wear circumstance, the brake is operated in 100 000 cycles by DC motor. To make wear test in same design parameters such as the radius of the housing, ferromagnetic disc and gap size, small sample of stainless are inserted in housing of MR brake. The performances of brake are compared between the initial stage (no wear) and 100 000 revolution cycles operated stage (wear). At each circumstance, torque of the brake is measured and compared by applying step current and sinusoidal control input. The controller used in this work is a simple, but effective PID controller. It is demonstrated that the wear behavior is more obvious as the operating cycle is increased in the torque control process.

• Tribology and Lubricants
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• v.27 no.4
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• pp.213-217
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• 2011

In this study, friction characteristics using elastomeric actuator with Magneto-rheological (MR) materials are identified. Typically, Magneto-rheological materials are divided into two groups by MR fluid in fluid state and MR elastomer in solid state like rubber. The stiffness characteristics of Magneto-rheological material can be changed as magnetic field is applied. MR fluid has been applied to various industry fields such as to brake, clutch, damper, engine mount and etc. However, MR fluid has been used under the sealed condition to prevent leaking issues. In order to overcome these problems, MR elastomer that has same property as MR fluid has been developed and studied. MR elastomer mainly consists of polymer material such as natural rubber or silicon rubber with particles that can be polarized with magnetic field. And it is called as a smart material since its stiffness and damping characteristics can be changed. In this study, MR elastomer is produced and pin-on-disc tests are carried out to identify the friction characteristics of the material. Several test conditions are applied to evaluate the feasibility to use as a smart actuator in the field of vibration control.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.27 no.2
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• pp.175-181
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• 2017

In the present work, to achieve high braking performance with restricted size, characteristics of magneto-rheological (MR) fluid brake is numerically investigated considering different magnetic core shapes. As a first step, structural configuration of the MR brakes are proposed with four different magnetic core shapes, such as single flat, single inclined, dual flat and dual inclined. To estimate braking performance of the proposed MR brakes, electromagnetic analysis is carried out and the results of magnetic field intensity distribution are observed. Based on the electromagnetic analysis results, braking torque of the MR brake is estimated according to magnitude of current input and results are discussed. It is observed that enhanced braking torque can be achieved by adopting the modified magnetic core shape under limited small size of the MR brake.

• Journal of Mechanical Science and Technology
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• v.19 no.3
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• pp.778-791
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• 2005

A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. Then it is not easy to realize the performance of transient response of pneumatic artificial muscle manipulator (PAM manipulator) due to the changes in the external inertia load with high speed. In order to realize satisfactory control performance, a variable damper-Magneto­Rheological Brake (MRB), is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1983-1989
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• 2005

Industrial robots are powerful, extremely accurate multi-jointed systems, but they are heavy and highly rigid because of their mechanical structure and motorization. Therefore, sharing the robot working space with its environment is problematic. A novel pneumatic artificial muscle actuator (PAM actuator) has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. Its main advantages are high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. The PAM is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as Rubber Actuator and PAM manipulators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In addition, the nonlinearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads in order to realize a human-friendly therapy robot To overcome these problems a novel controller, which harmonizes a phase plane switching control method with conventional PID controller and the adaptabilities of neural network, is newly proposed. In order to realize satisfactory control performance a variable damper - Magneto-Rheological Brake (MRB) is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control using neural network brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control using neural network and without regard for the changes of external inertia loads.

• The Korean Journal of Rheology
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• v.11 no.2
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• pp.105-111
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• 1999

Dampers have been used to dissipate energy in mechanical systems. There are several types of dampers such as passive, active, and semi-active damper. Semi-active dampers have higher performance than passive ones and require less power to operate than active ones. Their damping characteristics can be changed properly for varying conditions. In this paper, we investigated the semi-active damper using Magneto-Rheological fluid. Magneto-Rheological fluid, which is one of controllable fluids, changes its damping and rheological characteristics from Newtonian fluid to Bingham fluid as the magnetic field is applied. It has several advantages such as high yield strength, low viscosity, robustness to impurities and wide temperature range of stability. If we designe a semi-active damper by using this material, we can not only design a simply structured damper but also expect rapid response. In this study, we propose several types of semi-active dampers which are designed and manufactured using Magneto-Rheological fluid and some problems encountered during their applications.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1422-1427
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• 2007

MR fluid is a suspension of micrometer-sized magnetizable particles in silicon oil and a functional fluid whose apparent viscosity can be controlled by the applied magnetic field strength. In this paper, a rotary brake using MR fluid called MR brake for tension control of precision machinery such as roll-to-roll printing machinery is presented. First, to obtain the higher performance than conventional powder brake, a MR brake with a modified rotor shape is newly designed and analyzed using FEM. Second, the prototype of MR brake is fabricated with the optimized structural parameters and an experimental apparatus is constructed. Then, basic characteristics of the MR brake are investigated with the different MR fluids. Finally, the validity of the developed MR brake is verified through the comparison with the conventional powder brake.