This paper is aimed to perform optimization of a multifunctional actuator utilizing magnetorheological (MR) fluids. In the design of the MR fluid based rotary devices, the inner coils are mainly in interior and exterior forms. However, the effect of these two forms of inner coils on output torque was not discussed. In this research, models with different inner coils are built, analyzed and compared. Among them, the model with interior inner coil is the best option in terms of output torque. Based on the analysis, optimization of the multifunctional actuator is carried out. The corresponding prototype is then fabricated and each function of the developed multifunctional actuator is tested.

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