| 用于被动力觉再现的磁流变液制动器 |
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| 引用本文： | 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),2011,35(6). |
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| 作者姓名： | 朱静 |
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| 作者单位： | 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 |
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| 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) |
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| 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.
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| 关 键 词： | 被动力觉再现 磁流变液 制动器 简化逆动力学模型 |
Magneto-rheological Fluid Brake for Passive Force Display |
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| ZHU Jing.Magneto-rheological Fluid Brake for Passive Force Display[J].Journal of Nanjing University of Science and Technology(Nature Science),2011,35(6). |
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| Authors: | ZHU Jing |
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| Institution: | ZHU Jing(Jiangsu Electronics Equipment Manufacturing Engineering Technology Research and Development Center,Huaian 223003,China) |
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| 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 condition... |
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| Keywords: | passive force display magneto-rheological fluids brakes simplified inverse dynamic models |
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