Combined actuator with rheological control brake

摘要

A combined actuator (17) provided with: a mobile element (19); a driver (20) for displacing the mobile element (19); and a rheological control brake (23), which is mechanically coupled to the mobile element (19) to adjust the displacement of the mobile element (19); the rheological control brake (23) has: two contiguous adjustment chambers (25); a rheological fluid (26) contained in the two adjustment chambers (25); a sliding piston (28), which tightly separates the two adjustment chambers (25) and is mechanically connected to the mobile element (19); at least one external connection pipe (29), which reciprocally connects the two adjustment chambers (25); and a driving device (30) which is coupled to the external connection pipe (29) so as to apply a variable electromagnetic field to the rheological fluid (26) contained in the external connection pipe (29) for varying the viscosity of the rheological fluid (26) between a minimum value and a maximum value.