磁流变球铰设计及初步实验研究

Design and preliminary test of spherical hinge based on MR fluid

设计了一种基于磁流变液的扭矩可控的多自由度球铰结构并进行了初步实验研究。研究结合有限元分析对该结构在静态磁场下的磁感应强度分布进行了仿真,变换不同的仿真条件对改变设计参数后结构的性能进行了对比,并搭建了基于拉压力传感器的测试系统,对所设计的结构进行了测试。实验结果表明,使用自制体积比率50%的磁流变液,通过控制外加电流,该球铰扭矩可在0.14到1.85 Nm连续变化。连续工作时可靠性较高,重复性较好,球铰的扭矩相对漂移约4%,在相同条件参数下工作扭矩相对漂移约2%。所设计的结构比与其他扭矩控制结构可更高效提供阻力矩,对该设计的改进方案也进行了讨论。

A multiple DOF spherical hinge structure is designed based on Magnetorheological （MR） Fluid,whose torque resistant capability can be flexibly controlled.Finite Element Method （FEM）is intro-duced to analyze and simulate the distribution of Magnetic Flux Density（MFD）of such structure under mag-netic fields.Then comparison is made among different simulating conditions for the structure performance after altering the design parameters.And a testing system based on pull pressure sensor is set up for testing the structure designed,which result indicates that the torque of the spherical hinge can be continuously modulated from 0.14 Nm to 1.8 Nm with appreciable reliability（relative torque drift about 4%）and repeata-bility（relative torque drift about 2%）using MR fluid with 50% self-control volume ratio through controlling impressed current.Thus the structure designed is more efficient in providing resistant torque compared with other torque controllable structure,which improving proposal for the design is discussed as well.