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Magneto-rheological Fluid Brake for Passive Force Display


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Magneto-rheological Fluid Brake for Passive Force Display
ZHU Jing
Jiangsu Electronics Equipment Manufacturing Engineering Technology Research and Development Center,Huaian 223003,China
passive force display magneto-rheological fluids brakes simplified inverse dynamic models
In view of the poor safety and poor stability of current haptic actuators,a novel brake is developed for passive force display. It consists of a housing with several rotors located in it. The magneto- rheological fluid is filled into the gaps between the rotors and the housing. When the viscosity of the magneto-rheological fluid increases under the influence of the magnetic field, the rotors are resisted by the braking torque relative to the housing. The dynamic model of the brake is built. The constrain conditions of the brake output force are analyzed. A simplified inverse dynamic model of the brake is built by studying the speed feedback algorithm of the rotors and the output torque feedback algorithm. Virtual force display experiment results show that the brake output force can realize the compliance display of body tissues and the rigidity display of rigid bodies with high fidelity,and its dynamic change coefficients are above 20.


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Last Update: 2012-10-25