Research and Development of a Compliant Exoskeleton Joint by Using Magneto-Rheological Fluid
| Autor: | 林祐丞 |
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| Rok vydání: | 2014 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 102 As the technology advances, many studies on the fields of traditional mechanical engineering has turned to intelligent exoskeleton robotics, which include applications in military, entertainment, and rehabilitation medical uses. From the standpoint of physical rehabilitation, the aim of using exoskeleton robotics is to utilize mechanical power to assist patients in recovering from lose of arm movement due to diseases or accidents through a physical rehabilitation process. The purpose of this study is to design and develop a compliant joint to ensure safety of the users during the rehabilitation process. This compliant joint utilizes magneto-rheological fluid to vary transmitted torque of the joint. Also, it has safety to limit maximum torque that is transmitted. This thesis first investigates properties of the magneto-rheological fluid. The properties of the magneto-rheological fluid can be controlled by the applied magnetic field and this characteristic is applied on the design of the compliant joint. Due to the fact that this rehabilitation device needs to be worn on the patients, permanent magnet is used instead of electromagnet to provide required magnetic field for the magneto-rheological fluid. The magnetic field exerted on the magneto-rheological fluid can be controlled by changing the distance between the permanent magnet and the magneto-rheological fluid. Using simulation software such as Ansoft/Maxwall 3D to calculate the magnetic field under different boundary conditions. Lastly, experiments are performed to compare the results with the theoretical results. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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