适用于力反馈的圆筒式磁流变液执行器的设计 .pdfVIP

学兔兔 第31卷 第9期 仪 器 仪 表 学 报 Vol_31 No．9 2010年9月 Chinese Journal of Scientific Instrument Sep．2010 适用于力反馈的圆筒式磁流变液执行器的设计 文 辞，宋爱国，王爱民 (东南大学仪器科学与工程学院远程测控技术江苏省重点实验室 南京 210096) 摘 要：力／触觉反馈是虚拟现实交互技术中一种重要的交互形式。磁流变液执行器是最具发展潜力的力／触觉反馈装置。提 出了一种适用于手指力反馈的便携式圆筒磁流变液执行器的设计方法，导出了基于Bingham塑性模型的阻力矩公式，分析了磁 流变液特性和执行器结构参数对阻力矩的影响，并通过有限元分析进行优化设计，执行器的直径为31 mm，高度为38 mm，重 200 g。实验测定了阻力矩和输入电流之间的关系，并采用二次多项式拟合。输入电流为0．6 A时，执行器产生的阻力矩为 255 N·mm，结果表明，该执行器产生的阻力矩足以阻止手指抓取虚拟物体。 关键词：虚拟现实；力反馈；磁流变液执行器；有限元分析 中图分类号：TP24 文献标识码：A 国家标准学科分类代码：510．804 Design of a cylindrical magnet0rhe0l0gical fluid actuator for force feedback Wen Ci，Song Aiguo，Wang Aimin (Remote Measurement and Control Key Lab．of Jiangsu Province，School of Instrument ScienceEngineering， Southeast University，Nanjing 210096，China) Abstract：Haptic feedback is a crucial sensorial modality in virtual reality interactions．Magnetorheological fluid (MRF)actuator is considered to be one of the most promising haptic devices．A design method of portable cylindri_ cal MRF actuator is proposed，which is used for displaying force feedback to the finger of the user．A torque formula based on Bingham plastic model is presented，the influences of the properties of MRF and the structural parameters of the actuator on the torque are analyzed．The actuator was designed and optimally analyzed with finite element anal— ysis；it is 3 1 mm in diameter，38 mm in height and 200 g in weight．An experiment was conducted to determine the relationship between torque and current；and quadratic—muhinomial fitting was applied．The actuator can produce 255 N ·mm torque at 0．6 A．Results show that the actuator is