Compact MR fluid clutch device for human-friendly actuator

Estimation of electropneumatic clutch actuator load characteristics

This paper propose a dynamic model of an electropneumatic clutch actuator system for heavy duty trucks. The focus is set on modeling of the clutch load characteristic which should be parameter affine, and the main purpose of the modeling task in this paper is to prepare for on-line adaption of this load characteristics. The knowledge of the clutch load characteristic is important for being able...

System Modeling and Control of a Clutch Actuator System for Dual Clutch Transmissions

In this paper, a clutch actuator system for DCTs is developed by integrating a brushless DC motor with mechanical subsystems. The system modeling is performed with experimental validations. However, since the developed model is based on the linear system, it may include modeling uncertainties and external disturbances. To overcome this difficulty, a cascade control structure is proposed. Theref...

Nonlinear observer and parameter estimation for electropneumatic clutch actuator

This paper proposes a nonlinear observer for an electropneumatic clutch actuator. Parameter estimation of the clutch load characteristic and friction are also treated through adaptation. Estimates of piston velocity, chamber pressures and dynamic friction state are made based on piston position measurement only. Persistence of excitation conditions for convergence of the estimation error are de...

On the Feasibility and Suitability of MR Fluid Based Actuators in Human Friendly Manipulators

In this paper, we will discuss the potential benefits Magneto-Rheological fluids can bring to the field of human friendly manipulators. For several decades now, the robotics industry has postulated the emergence of a new breed of manipulators capable of safely interacting with humans. The integration of robots into human environments has always possessed a unique set of challenges. The primary ...

Delivery Actuator for a Transcervical Sterilization Device