Abstract
A new design of a magnetorheological (MR) piston prototype intended for passive force control in robotic applications is introduced. It is based in a novel toroidal array of valves, contained within the piston head, which are used to control the output force of the actuator in order to achieve a high degree of reliability, size efficiency, and safety, by exploiting the material properties of MR fluids and permalloy metals. This paper describes the main points in the development of the MR piston prototype, the mathematical modeling of the magnetic circuit, and the results of the experiments conducted using a universal testing machine to evaluate the passive performance of the prototype. Results show the feasibility and performance of the new toroidal magnetic circuit of the MR piston prototype.
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