A Simple One Dimensional Robot Joint Based on the ER Linear Reversing Mechanism

The feasibility of using a well-known twin ER clutch linear reversing mechanism as a robotic actuator is demonstrated. High speed of response, displacement and positional accuracy can be obtained bi-directionally. A validated mathematical model of the apparatus provides a basis for the control strategy. Positional accuracy is enhanced by an ER brake which works in sequence with the clutch excitation switches. The robot arm, in rotational displacement is tested over a large number of cycles, speeds, displacements and inertial loads and the quality of control compared to that of competitive conventional servo motors.