Development of magnetorheological fluid clutch for robotic arm applications

Abstract

This paper presents the development of a permanent magnet-based magnetorheological fluid clutch for intended use in robotic arm applications, as well as other applications where compliance for human-robot interaction is of importance. The modelling of a cylindrical MR fluid-based clutch is presented, followed by design and verification processes. Finally, a prototype of the clutch is built along with a base apparatus to support the clutch and the other components such as the DC and stepper motor. This prototype was later used to study the torque-speed relationship of the clutch. The results of this study are presented at the end of the paper.