【摘要】 根据力觉交互的需要,提出了一种基于磁流变液力觉驱动器的优化设计方法.介绍了磁流变液力觉驱动器的结构、原理及其动力学模型,用无因次量替代动力学模型中的相应参数得出无因次动力学模型,分析了在磁流变液宾汉值为常数的条件下输出被动驱动力动态范围、输出被动驱动力随结构参数的变化关系.综合考虑体积、输出被动驱动力大小及其动态范围基础上提出了阻尼器的最优设计方法,并给出了设计程序.利用该设计方法设计了应用于被动力反馈装置的驱动器,加工了原型并进行了测试,测试结果验证了设计方法的有效性.更多还原

【Abstract】 An optimization design method for magneto-rheological fluid based haptic actuator was presented for force interaction. The structure,principle and dynamics model were introduced. Non-dimensional model was set up with the relevant parameters in the dynamics model replaced by the Non-dimensional parameters.The relationships between the structure parameters and the output passive driving force,its dynamic range were analyzed when the Bingham value is a constant. An optimum design method for the haptic actuator was presented on base of synthetically considering the volume,output force and its dynamic range and the design program was given. A haptic actuator was designed according the method and the prototype was manufactured.Finally,the actuator was test and the effectiveness of the design method was verified by the results.更多还原