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Development of MR-fluid based semi-active dampers to be used in haptic devices için kapak resmi
Development of MR-fluid based semi-active dampers to be used in haptic devices
Development of MR-fluid based semi-active dampers to be used in haptic devices
Karabulut, Mehmet Görkem, author.
Fiziksel Tanımlama:
xiii, 121 leaves: color illustraltions.+ 1 computer laser optical disc.
In this thesis, development of a novel Magneto-Rheological (MR) fluid based brake system is described which is designated to be used in kinesthetic haptic devices. The new design of MR-brake system consists of two identical directional brakes and with this feature, it presents a solution to the stiction problem that occurs when the MR-brake is activated which constrains the rotational motion in both direction. This constraint of the motion results in developing a feeling that the user is stuck in the virtual wall. By using two independently controlled brakes in a system, the rotational brake direction is controlled and thus the motion of the handle is constrained in one direction while the user is free to move the handle in the reverse direction. MR-brake is developed from a conceptual design to the final design by applying a design optimization method. This method incorporates the use of Finite Element Analysis (FEA) and mathematical model of the system. Using this method, it is possible to predict the performance of the design to check if it meets the requirements that are specified by considering the future use of the device. After manufacturing a prototype, its performance is experimentally validated in a test rig which is also constructed in the scope of this thesis study. Experimental study includes two sections as characterization and frequency response test. As a result, the prototype is characterized with constructing the torquecurrent relation, which clearly shows the expected hysteresis in operation. The control model of the system is mathematically modeled with %95 accuracy ratio using the obtained experimental results. Experimental results show that the maximum brake torque of the system is 3.84 Nm and the minimum torque value is 0.15 Nm. The frequency response of the system is experimentally investigated and using this result, the system’s transfer function is estimated and its bode diagram is drawn. According to this result, the bandwidth of the system is calculated to be 63 rad/s.
Yazar Ek Girişi:
Tek Biçim Eser Adı:
Thesis (Master)--İzmir Institute of Technology: Mechanical Engineering.

İzmir Institute of Technology: Mechanical Engineering--Thesis (Master).
Elektronik Erişim:
Access to Electronic Versiyon.
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