Development of a Clutch Type Actuator Device Using Ultrasonic Motors and MR Fluids

摘要

In this paper, we have proposed a clutch type actuator device that consists of a clutch mechanism through magneto-rheological (MR) fluids, a harmonic drive gear, and an ultrasonic motor. MR fluids are materials that change their rheological characteristics by an applied magnetic field, using permanent magnets. They have been promising as functional fluids that can improve the properties of mechanical systems. And, ultrasonic motors have some special features, such as high torque under low-speed operation and no electromagnetic noise. The proposed actuator device has ability to provide compact size, high torque, low inertia, and safety for human-friendly. Static torques of the device was predictable with conventional magneto-static analyses.