Electro-Rheological-Fluid-Based Articulating Robotic Systems

Abstract

The limitations of the current generation of robotic systems has triggered a new research thrust for predicting the elastodynamic response of assemblages of articulating flexible-bodied systems. This research thrust is extended herein by proposing the fabrication of robotic systems in either monolithic or ultra-advanced composite laminated high-strength, high-stiffness materials in which are incorporated electro-rheological fluids. These multiphase fluid systems, which change their rheological behavior instantaneously when subjected to an externally applied electrical field, provide a potential for tailoring the vibrational characteristics of these hybrid materials form which the structural members of the proposed robotic systems are fabricated. This paper is focused on developing the necessary design tools for predicting the vibrational response of flexible multibodied articulating systems fabricated with this new class of advanced materials