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Title page for ETD etd-11192009-114523


Type of Document Master's Thesis
Author Farris, Ryan James
Author's Email Address ryan.farris@vanderbilt.edu
URN etd-11192009-114523
Title Design of a Multi-Disc Electromechanical Brake
Degree Master of Science
Department Mechanical Engineering
Advisory Committee
Advisor Name Title
Michael Goldfarb Committee Chair
Eric Barth Committee Member
Nilanjan Sarkar Committee Member
Keywords
  • clutches
  • robotics
  • mechatronics
  • actuators
  • brakes
  • friction
Date of Defense 2009-11-09
Availability unrestricted
Abstract
This thesis presents the design of an electrically-actuated, proportional brake that provides a significantly greater torque-to-weight ratio than a magnetic particle brake (considered a benchmark of the state-of-the-art) without sacrificing other characteristics such as dynamic range, bandwidth, or electrical power consumption. The multi-disc brake provides resistive torque through a stack of friction discs which are compressed by a dc-motor-driven ball screw. Unlike nearly all other proportional brakes, which operate in a normally unlocked mode, the brake presented here is designed such that it may be configured in either a normally unlocked or normally locked mode. The latter enables lower electrical energy consumption and added safety in the event of electrical power failure in certain applications. Following the device description, experimental data is presented to characterize the performance of the brake. The performance characteristics are subsequently compared to those of a commercially available magnetic particle brake of comparable size.
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