Modeling and motion control of an actuator unit using ER clutches

ER fluid is a kind of functional fluid. The ER fluids have a unique characteristic, which changes its rheology characteristic to apply the electric fields. The property of the actuator using ER fluid is different from conventional actuators such as DC or AC servomotors. In this study, we developed a new actuator using particle-type ER fluid, which is called ER actuator. The developed actuator can produce two directional torques by using two ER clutches. We derive the simple models of ER actuator from reference torque to output torque and velocity characteristics. Then, we verified the validity of the models and control performance of the actuator by conducting velocity and position control experiments.