基于混合驱动的柔顺性触觉接口装置

The Compliance Haptic Interface Based on Hybrid Actuating

针对目前柔顺性触觉接口设备存在的容易失真的问题,提出了一种基于电机和磁流变液混合驱动的柔顺性触觉接口装置。在简单介绍了磁流变液的基础上,讨论了基于磁流变液被动驱动器的结构和原理,该驱动器采用多转子设计思路以增大力输出范围。利用磁流变液驱动器能够模拟肌体组织的黏滞性,电机能够模拟肌体组织的弹性,将驱动器与电机串联实现肌体组织的柔顺性再现,同时利用电机补偿驱动器非有益阻尼力,增强装置的保真效果。在此基础上设计了柔顺性触觉接口装置,对装置模拟自由空间、不同的变形程度柔顺性物体受力进行了介绍,分析了装置的控制方法,最后加工了触觉装置原型,开展了不同柔顺度虚拟肌体组织柔顺性再现实验,实验结果验证了所设计装置及控制方法的有效性。

According to the problem that the fidelity of the compliance haptic interfaces existing are poor,a compliance haptic interface actuated by a motor and magnetorheological fluid is proposed.After the magnetorheological fluid is introduced briefly,the structure and principle of a passive magnetorheological fluid based actuator with multrotators adopted are discussed and the design method can amplify the output force.The magnetorheological fluid actuator and the electric motor can simulate the viscosity and the elasticity of the organism tissue respectively,so the actuator and the motor connected in series can simulate the compliance of the organism tissue,and at the same time,the motor can compensate the futile force of the actuator,which can enhance the fidelity.A compliance haptic interface is designed,and its force analysis of simulating different deformation of the compliance object and free space is introduced.The control method is analyzed.The haptic protocol is machined in the end and the compliance haptic display tests of the virtual tissues are done,the validity of the device and control method is verified by the result.