[1]朱静.用于被动力觉再现的磁流变液制动器[J].南京理工大学学报(自然科学版),2011,(06):817-821.
 ZHU Jing.Magneto-rheological Fluid Brake for Passive Force Display[J].Journal of Nanjing University of Science and Technology,2011,(06):817-821.
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用于被动力觉再现的磁流变液制动器
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2011年06期
页码:
817-821
栏目:
出版日期:
2011-12-31

文章信息/Info

Title:
Magneto-rheological Fluid Brake for Passive Force Display
作者:
朱静
江苏省电子产品装备制造工程技术研究开发中心,江苏淮安223003
Author(s):
ZHU Jing
Jiangsu Electronics Equipment Manufacturing Engineering Technology Research and Development Center,Huaian 223003,China
关键词:
被动力觉再现 磁流变液 制动器 简化逆动力学模型
Keywords:
passive force display magneto-rheological fluids brakes simplified inverse dynamic models
分类号:
TP24
摘要:
为解决主动力觉驱动器的安全性、稳定性差等问题,研制了一种用于被动力觉再现的新 型制动器。该制动器包括一个内置多个旋转盘的壳体,转子与壳体的间隙充满磁流变液。在磁 场作用下当磁流变液粘度变大时,旋转盘相对于壳体将受制动力矩作用。建立了制动器的动力 学模型,分析了制动器输出力的约束条件,通过研究转子转速反馈算法和输出力矩反馈算法建 立制动器的简化逆动力学模型。虚拟力觉再现实验结果显示: 制动器输出力的动态变化系数大 于20,能够高保真地实现肌体组织的柔顺性再现和硬物的刚性再现。
Abstract:
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.

参考文献/References:

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备注/Memo

备注/Memo:
基金项目: 江苏省科技创新与成果转化( 重大科技支撑与自主创新) 专项引导资金( BC2009207) 作者简介: 朱静( 1966-) ,女,副教授,主要研究方向: 自动化控制,E-mail: zhujing1000@163. com。
更新日期/Last Update: 2012-10-25