基于磁流变阻尼器的触觉反馈系统

针对传统触觉反馈系统安全性差、响应时间长、容易失真等问题,设计一种以磁流变阻尼器为核心的触觉反馈系统,并基于Bingham模型推导了磁流变阻尼器的输出阻尼力计算公式。Simulink仿真结果表明:磁流变阻尼器的位移、速度与阻尼力的关系符合Bingham模型,体现较好的动态性;当电流控制器输出电流为0~1 A,速度为10 mm/s时,输出阻尼力大小连续可调,最大阻尼力为19.6 N,最小为2.435 4 N。理论和仿真结果吻合,验证了该触觉反馈系统的可行性。

Haptic feedback system based on MR damper

A haptic feedback system with a core of MR damper is designed in this paper, solving the problems of the traditional haptic feedback system with poor safety, long response time and easy distor- tion. The paper deduces the formula of MR damper damping power based on the Bingham model. Simula- tion results indicate that the relations of the displacement, velocity and damping force of MR damper are in accordance with Bingham model and show better dynamic characteristics. The controlled and continu- ous damping power will be produced by the haptie feedback system on the condition that the electricity output is from 0 to 1 A in current controller, and velocity is 10 mm/s. The maximum damping power is 19.6 N and the minimum is 2. 4354N. That simulation results conform to the theory, proving the feasi- bility of the haptic feedback system.