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Design and Control of a Novel Visco-elastic Braking Mechanism Using HMA

  • Keith Gunura
  • Juanjo Bocanegra
  • Fumiya Iida
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7101)

Abstract

Many forms of actuators have been developed with the capability of braking. Most of these braking mechanisms involve numerous mechanical components, that wear with time and lose precision, furthermore the mechanism are difficult to scale down in size while maintaining relatively large holding torques. In this paper, we propose the use of an off-the-shelf economic material, Hot-Melt-Adhesive (HMA), as a brake mechanism. HMA exhibits visco-elastic characteristics and has interesting properties as it can change phases from solid to plastic to liquid and vice versa. Its advantage is that it is reusable and durable. Experiments were performed to display the holding strength as well as the HMAs visco-elasticity in its solid state as a brake mechanism. The HMA requires no constant application of power when solid, and acts as a brake and visco-elastic damper depending on temperature. Results show that HMA can add compliance and high torque braking of joints.

Keywords

Hot Melt Adhesive Mechanism Damper Brake High Torque Braking Visco-elastic damping 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Keith Gunura
    • 1
  • Juanjo Bocanegra
    • 1
  • Fumiya Iida
    • 1
  1. 1.Institute of Robotics and Intelligent SystemsSwiss Federal Institute of TechnologyZurichSwitzerland

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