• 한국소음진동공학회논문집
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• 제22권3호
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• pp.284-290
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• 2012

In this research, a new type of haptic master device using electrorheological(ER) fluid for minimally invasive surgery(MIS) is devised and control performance of the proposed haptic master is evaluated. The proposed haptic master consists of ER bi-directional clutch/brake for 2 DOF rotational motion(X, Y) using gimbal structure and ER brake on the gripper for 1 DOF rotational motion (Z). Using Bingham characteristic of ER fluid and geometrical constraints, principal design variables of the haptic master are determined. Then, the generation of torque of the proposed master is experimentally evaluated as a function of applied field of voltage. A sliding mode controller which is robust to uncertainties is then designed and empirically realized. It has been demonstrated via experiment that the proposed haptic master associated with the controller can be effectively applied to MIS in real field conditions.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 추계학술대회논문집
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• pp.638-642
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• 2003

This paper presents a parameter design of an Electrorheological(ER) panel for noise reduction using Taguchi method. Taguchi method is a robust design method that determines control parameters in the presence of noise effect. Host structure thickness, spacer thickness, base oil viscosity and the weight ratio of ER particles are chosen for the control factors. A test setup in an SAE J1400 facility is used to analyze the sound transmission loss. The sensitivity of each factor with signal-to-noise(S/N) ratio and analysis of variance are investigated. The analysis results show that the weight ratio of ER particle and base oil viscosity of the ER fluid mostly affects the noise reduction in the presence of electric field. Based on the Taguchi method, an optimal configuration was designed and comparison is made with experimental result fer the verification.

• 한국재료학회지
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• 제3권2호
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• pp.185-192
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• 1993

본 연구에서는 분극성을 갖는 미세분말/유전유체 분산계내의 전기유변효과를 mechanism을 중심으로 고찰하였다. 전기유변효과를 일으키는 mechanism을 (1)입자표면전도(surface conductance) (2)입자내부전도(bulk conductance(3) 유도분극(induced polarization)으로 구분하여 설명하였다. 소수성(anhydrous-base)전기유변유체 내의 미세분말 입자간 상호인력을 예측할 수 있도록 유도분극 mechanism을 적용하여 수학적으로 모델화 함으로써 전기유변효과를 향상 시키기 위한 재료선정의 기초로 하였다. 전기유변유체의 미세입자로 이용될 수 있다고 여겨지는 ceramic, ferrite 및 polymer등 7가지 재료를 선정하여 계산한 결과 ceramic및 ferrite입자가 입자간 상호인력이 큰것으로 나타났다.

• 한국소음진동공학회논문집
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• 제22권4호
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• pp.365-371
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• 2012

This paper presents robust control performance of a direct current(DC) motor with brake system adopting a giant electrorheological(GER) fluid, whose distinguished feature is an extremely high value of yield stress. As a first step, Bingham characteristics of the GER fluid is experimentally investigated using the Couette type electroviscometer. A cylindrical type of ER brake is then devised based on the Bingham model, and its braking torque is evaluated. Structural analysis of ER break is performed using ANSYS. After formulating the governing equation of motion for the DC motor with ER brake system, a sliding mode control algorithm, which is very robust to external disturbances and parameter uncertainties, is synthesized and experimentally realized in order to achieve desired rotational speed trajectories. The tracking responses of the control system are then evaluated and verified by presenting speed control performance.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 2004년도 학술대회지
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• pp.323-329
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• 2004

The electrical and rheological properties pertaining to the electrorheological (ER) behavior of chitosan derivatives, chitosan, chitosan ammonium salt and chitosan phosphate suspensions in silicone oil were investigated. Chitosan derivative suspensions showed a typical ER response (Bingham flow behavior) upon application of an electric field. However, chitosan phosphate suspension exhibited an excellent shear yield stress compared with chitosan and chitosan ammonium salt suspensions. The difference in behavior results from the difference in the conductivity of the disperse phases due to the difference of their polarizability. The shear stress for the chitosan, chitosan ammonium salt and chitosan phosphate suspensions exhibited a linear dependence on the volume fraction of particles and 1.18 ,1.41 and 1.67 powers of the electric field. On the basis of the experimental results, the newly synthesized chitosan derivative suspensions found to be an ER fluid.

• KSTLE International Journal
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• 제5권2호
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• pp.49-51
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• 2004

The electrical and rheological properties pertaining to the electrorheological (ER) behavior of chitosan derivatives, chitosan, chitosan ammonium salt and chitosan phosphated suspensions in silicone oil were investigated. Chitosan derivative suspensions showed a typical ER response (Bingham flow behavior) upon application of an electric field. However, chitosan phosphate suspension exhibited an excellent shear yield stress compared with chitosan and chitosan ammonium salt suspensions. The difference in behavior results from the difference in the conductivity of the disperse phases due to the difference of their polarizability. The shear stress for the chitosan, chitosan ammonium salt and chitosan phosphate suspensions exhibited a linear dependence on the volume fraction of particles and 1.18, 1.41 and 1.67 powers of the electric field. On athe basis of the experimental results, the newly synthesized chitosan dervative suspensions found to be an ER fluid.

• 한국공작기계학회논문집
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• 제13권5호
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• pp.24-29
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• 2004

This paper presents the tension control of a wire-cut discharge machine using electrorheological(E,R) fluid based brake system. On the basis of the tension level required in the machine, an appropriate size of the ER brake which features design simplicity, fast response and salient controllability is designed. Considering the Bingham property of ER fluid and actuator response time, the governing equation of the ER brake is derived. And a tension propagation of wire electrode is modeled via frequency response. The tension control performance of the discharge machine is simulated by using a robust sliding mode controller.

• KSTLE International Journal
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• 제6권1호
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• pp.28-32
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• 2005

The electrorheoloRical (ER) fluids are composed of a colloidal dispersion of polarizable particles in insulating oil, and it's the rheological property changes by the applied electric field. These changed are reversible and occur fast within a fewmilliseconds. The ER properties of the ER fluid such as increment of viscosity and yield stress come from the particle chain structure induced by electric fleld. When formulating the ER fluid for a speciflc application, some requirement must besatisfled, which are high yield stress under electric field, rapid response, and dispersion stability. While this characteristic makes valuable ER fluids in valious industrial applications, their lung term and quiescent application has been limited because ofproblems with particle sedimentation. In an effort to overcome sedimentation problem of ER fluids, the anhydrous ER materials of monodispersed hollow polyaniline (PANI) and adipate derivative respectively with submicron-sized suspension providing wide operating temperature range and other advantage were synthesized in a four-step procedure. The ER fluidswere characterized by FT-lR, TGA, DLS, SEM, and TEM. Stability of the suspensions was examined by an UV spectroscopy.The rheological and electrical properties of the suspension were investigated Couette-type rheometer with a high voltagegenerator, current density, and conductivity. And the behavior of ER suspensions was observed by a video camera attached toan optical microscope under 3kV/mm. The suspensions showed good ER properties, durability, and particle dispersion.

• 한국재료학회지
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• 제2권3호
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• pp.220-227
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• 1992

전기유변유체(electrorheological fluid : ERF)는 크기가 $10^{-6}m$정도를 가진 분극성이 강한 입자 분말을 유전유체속에 혼합하여 만든 콜로이드용액으로서 외부전기 장에 의하여 액체상태로부터 겔(gel)상태로 상태변환을 한다. 상태변환과정은 가역과정이며 $10^{-3}$초 정도의 빠른 시간내에 이루어진다. 본 논문에서는 주기적응력이나 주기적 변형이 가해지는 강제진동실험을 통하여 ERF의 점탄성 특성을 조사하였다. 점탄성은 복소수로서 실수부인 동적전단탄성율(storage shear modulus, G')과 허수부인 동적손실율(loss modulus, G")의 합으로 표현된다. 동적전단탄성율은 강제진동의 진폭과 주파수의 함수로 외부전기장에 의하여 크게 변화되었으나 손실계수(loss factor, ${\eta}=G"/G'$)는 진동의 진폭, 진동수 및 외부전기 장에 거의 독립적이었다. 실험(1)은 강제진동의 진폭을 고정하고 진동수를 변화하는 방법(frequency sweep)과 실험(2)는 진동 진폭을 변화시키는 방법(amplitude sweep)으로 실행했다. 본 실험에서는 cornstarch입자를 corn oil에 혼합한 것과 zeolite입자를 silicone oil에 흔합한 콜로이드 용액이 ERF로서 사용되었으며 인가된 전기장은 약$(1~3){\times}10^6V/m$의 직류전기장이 가하여졌다.기장이 가하여졌다.

• 한국소음진동공학회논문집
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• 제13권9호
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• pp.679-687
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• 2003

Shock wave reduction in electrorheological(ER) smart structures is studied. ER insert is a composite structure comprising two elastic outer layers between which is sandwiched layer of ER fluid. When a voltage is applied across the outer layers. the shear modulus and the loss factor of the ER fluid are enabled, and thus the dynamic properties of the composite structure is altered. For the shock wave reduction in a hull mount of a submerged structure, ER inserts are made on the hull mount structure. To investigate the ER insert shape. many types of ER insert pattern are considered. Modal test of ER insert structures is performed to obtain the mode shapes, natural frequencies and the acceleration transmissibility. The acceleration transmissibility is reduced at such a frequency region when an electric field is applied. It is observed that the natural frequencies and mode shapes can be tunable by applying electric field. The ER-inserted hull mount is installed in an integrated system and the overall performance of shock wave reduction is tested. The possibility of shock wave reduction in the hull mount is demonstrated.