CAJ | 학술논문

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。
침대목전유순성촉각접구설비존재적용역실진적문제，제출료일충기우전궤화자류변액혼합구동적유순성촉각접구장치。재간단개소료자류변액적기출상，토론료기우자류변액피동구동기적결구화원리，해구동기채용다전자설계사로이증대력수출범위。이용자류변액구동기능구모의기체조직적점체성，전궤능구모의기체조직적탄성，장구동기여전궤천련실현기체조직적유순성재현，동시이용전궤보상구동기비유익조니력，증강장치적보진효과。재차기출상설계료유순성촉각접구장치，대장치모의자유공간、불동적변형정도유순성물체수력진행료개소，분석료장치적공제방법，최후가공료촉각장치원형，개전료불동유순도허의기체조직유순성재현실험，실험결과험증료소설계장치급공제방법적유효성。
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 mult-rotators adopted are discussed and the design method can amplify the output force.The magnetorheological fluid actua-tor and the electric motor can simulate the viscosity and the elasticity of the organism tissue respectively,so the actua-tor 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 intro-duced.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.