环空电流变流体压力传递的电液类比分析

Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice Pub Date : 1997-09-23 DOI:10.1109/MMVIP.1997.625253

Y. Tanaka, A. Gofuku, K. Nakamura

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引用次数: 6

摘要

本文介绍了利用电流变液(ERF)进行压力控制的柔性机械手指的研制。本文介绍了一种利用电流量类比的ERF预测压力控制装置瞬态响应的方法。惯量由理论方程计算。假设压力控制装置电极环空内的流动为宾厄姆流体流动，理论上推导出内电效应产生的电阻和附加电压源。电容的确定是为了将基于模型预测的压力时间响应与简单实验结果进行比较。利用该模型所确定的参数进行的瞬态流动预测与实验结果在质量上符合较好。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Analysis of electric-fluid analogy of pressure transmission through an electro-rheological-fluid in annuli

The article concerns the development of flexible robotic fingers using electro-rheological fluid (ERF) for pressure control. It describes a technique to predict the transient response of a pressure control device using ERF by an electric-flow analogy. The inertia is calculated from the theoretical equation. The resistance and additional voltage source by the ER effect are derived theoretically by assuming the flow in the electrode annuli of the pressure control device as a flow of the Bingham fluid. The capacitance is determined to compare the time-responses of pressures by the prediction based on a model with the results of a simple experiment. The predictions of transient flow, using the determined parameters of the model are in qualitatively good agreement with the experimental results.

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Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice

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