摘要
针对现有力反馈装置安全性和灵巧性不足的问题，设计了一种适用于手指力反馈的小型三圆盘式磁流变液（MRF）执行器。导出了基于Bingham塑性模型的力矩公式，分析了MRF特性和执行器结构参数对力矩的影响。采用Maxwell软件对执行器进行了有限元分析。执行器的直径为32mm，高度为18mm，重120g，输入电流为1．2A时产生的力矩为260．7N·mm，达到了操作者抓取虚拟物体所需的抓取力。建立了不包含磁滞特性的二次多项式模型和适用于电流随机变化且包含磁滞特性的分段线性模型，当电流变化区间为0～1．2A和1．2～0A时，二次多项式模型的残余标准差分别为8．2N·mm和11．2N·mm，分段线性模型的残余标准差分别为5．9N·mm和6．2N·mm，分段线性模型的精度高。
The study aimed at existing force feedback devices＇ insufficiencies in safety and dexterity, and designed a small three-plate magnetorheological fluids （MRF） actuator for finger force feedback. A torque formula based on the Bingham plastic model was presented, and the influences of the MRF＇ properties and the actuator＇ s structural parameters on the torque were analyzed. The finite element analysis for the actuator was performed with the Maxwell software. The actuator has a diameter of 32mm, a hight of 18mm, a weight of 120g, and can produce a torque of 260.7N. mm under a current of 1.2A, which is up to the force for a user to grasp a virtual object. A quadratic- muhinomial model without considering hysteresis and a piecewise linear model suitable for current＇ s random chan- ging and considering hysteresis were built. For the current changing ranges of 0 - 1.2A and 1.2 - 0A, the residual standard deviations of the quadratic-muhinomial model are 8.2N. mm and 11.2N＇mm respectively, and that of the piecewise linear model are 5.9N. mm and 6.2N. mm respectively, so the piecewise linear model is more accurate.
出处
《高技术通讯》
CAS
CSCD
北大核心
2012年第12期1310-1315,共6页
Chinese High Technology Letters
基金
863计划（2008AA040202）和江苏省自然科学基金（BK2010063）资助项目.
关键词
力反馈装置
磁流变液(MRF)执行器
有限元分析
磁滞
力学模型
force feedback device, magnetorheological fluids （MRF） actuator, finite element analysis, hys-teresis, mechanical model
作者简介
女，1967年生，博士，工程师；研究方向：力觉再现技术；E—mail：wenci@seu．edu．cn
通讯作者，E—mail：a．g．song@SeLl．edu．cn
