This research focuses on development of a new bidirectional magneto-rheological actuator (BMRA), especially for force feedback system. The BMRA composed of two input shafts rotating in opposite directions at the same speed, on which the two magnetic discs are assembled. The two discs are placed inside a housing which is connected to the output shaft. On each side of the housing, magnetic coils are integrated to create corresponding magnetic field on required. The gap between the discs and the housing is filled magnetorheological fluid (MRF). A thin wall is employed to separate the coils with the MRF. This allows the MRF duct being manufactured more easily and accurately. After a review of state of the art of MR actuators, the new configuration and working principle of the proposed BMRA is presented. After that, equation for calculation of the output torque of the proposed BMRA is derived and optimal design of the BMRA is conducted considering its maximum output torque and mass. ...

中文翻译：

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新型双向磁流变致动器的设计与实验评估

这项研究的重点是新型双向磁流变致动器（BMRA）的开发，特别是用于力反馈系统。BMRA由两个以相同速度沿相反方向旋转的输入轴组成，两个磁盘组装在其上。这两个圆盘放置在连接到输出轴的壳体内。在外壳的每一侧，集成了电磁线圈，可根据需要创建相应的磁场。磁盘和外壳之间的间隙充满了磁流变液（MRF）。使用薄壁将线圈与MRF分开。这使得MRF管道的制造更加轻松，准确。在回顾了MR执行器的最新技术之后，提出了所提出的BMRA的新配置和工作原理。之后，推导了用于计算所提出的BMRA的输出扭矩的方程，并考虑了其最大输出扭矩和质量进行了BMRA的优化设计。...