In this study, a novel magnetorheological brake with multi-pole and dual-gap configuration is presented to increase not\nmerely the torque output but also the range of controllable transmission torque while maintaining a compact structure.\nIn addition, the proposed magnetorheological brake design features several individual coils, and lower power consumption\nfor a desired torque output could be obtained by properly controlling the input currents in those coils. Theoretical\nresearch has been done in order to reveal the relationship between the novel structure and the output torque and\nobtain the mathematical formulas of the output torque. Then, based on the theoretical research, finite element analysis\nwas performed to optimize the structure, analyze the magnetic field distribution, and evaluate the capability of the\ndesigned magnetorheological brake. Finally, an optimization was performed to obtain the minimum power consumption\nfor a desired torque. The results show that the proposed magnetorheological brake can generate a considerable torque\ndensity in its dimensions while maintaining controllable power consumption by individual input currents.
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