Torque Measurement of 3-DOF Haptic Master Operated by Controllable Electrorheological Fluid
Abstract This work presents a torque measurement method of 3-degree-of-freedom (3-DOF) haptic master featuring controllable electrorheological (ER) fluid. In order to reflect the sense of an organ for a surgeon, the ER haptic master which can generate the repulsive torque of an organ is utilized as a remote controller for a surgery robot. Since accurate representation of organ feeling is essential for the success of the robot-assisted surgery, it is indispensable to develop a proper torque measurement method of 3-DOF ER haptic master. After describing the structural configuration of the haptic master, the torque models of ER spherical joint are mathematically derived based on the Bingham model of ER fluid. A new type of haptic device which has pitching, rolling, and yawing motions is then designed and manufactured using a spherical joint mechanism. Subsequently, the field-dependent parameters of the Bingham model are identified and generating repulsive torque according to applied electric field is measured. In addition, in order to verify the effectiveness of the proposed torque model, a comparative work between simulated and measured torques is undertaken.
Recent development of electro-responsive smart electrorheological fluids.
The characteristics of an electrorheological (ER) fluid, as a class of smart soft matter, can be actively and accurately tuned between a liquid- and a solid-like phase by the application of an electric field. ER materials used in ER fluids are electrically polarizable particles, which are attracting considerable attention in addition to further research. This perspective reports the latest ER materials along with their rheological understanding and provides a forward-looking summary of the potential future applications of ER technology.
HYPERGOLIC REACTION MECHANISMS OF CATALYTICALLY PROMOTED FUELS WITH ROCKET GRADE HYDROGEN PEROXIDE
Abstract The coupling of the physical and chemical processes controlling the ignition delays (τ ign ) of hypergolic propellants complicates the direct analysis of the transient ignition processes. The transport properties of both the propellants and the ambient gas, and the heat of vaporization and reaction affect τ ign and must be considered experimentally. Furthermore, since hypergolic ignition occurs, by definition, on contact, the mechanics of initial contact and subsequent mixing can affect τ ign and must also be considered. Experimental results from a study of the hypergolic ignition of a catalytically promoted fuel with rocket grade hydrogen peroxide (RGHP) are presented. Statistical analysis of the experimental data was conducted to evaluate the relative effects of RGHP concentration, initial ambient pressure, and the ambient gas on τ ign . At RGHP concentrations of less than 92% in water, stable ignition was difficult to achieve. At sufficiently high Lewis number, an oscillatory ignition process is observed. A phenomenological model comprising mixing, RGHP decomposition, fuel heating and vaporization, and auto-ignition is presented and compared to the experimental results.