一种新型剪切阀式旋转MR制动器的开发与评估

基于磁流变（Magnetorheological，MR）液的流变特性，MR制动器具有的高转矩-体积比(Torque-to-Volume Ratio,TVR)和低功耗优点使其成为一种应用前景广泛的被动力输出装置。为了提高旋转型MR制动器在单位空间内的输出制动转矩，基于凸轮结构提出了一种在剪切阀模式下工作的旋转型MR制动器。首先,介绍了这种新型MR制动器的总体结构，并基于Bingham塑性模型和凸轮模型对MR制动器的输出制动转矩进行了理论推导。然后，利用ANSYS软件和多目标优化设计方法，对制动器的结构进行有限元分析，得到最优的几何参数。在自主搭建的实验平台上对制动器进行了性能测试实验，结果表明，该制动器具有较高的TVR、较低的初始制动转矩和良好的动态特性。该制动器在较小的体积下能够实现最大42.4 kN/m³的TVR，可以很好地满足力触觉交互、康复训练、可穿戴设备等需要小体积和大输出转矩的应用场景。

Development and Evaluation of a New Type of Shear-Valve Rotary MR Brake Mode

Based on the rheological properties of magnetorheological (MR) fluids,MR brake has the advantages of high torque-to-volume ratio (TVR) and low power consumption,making it a widely used passive power output device.In order to improve the output braking torque of the rotary MR brake in unit space,a rotary MR brake operating in a shear-valve mode is proposed based on a cam structure.At first,the overall structure of the new MR brake is introduced and the output braking torque of the MR brake is theoretically derived based on Bingham plastic model and cam model.Then,a finite element analysis of the brake structure is performed by using the ANSYS software and multi-objective optimization design methods to obtain the optimal geometric parameters.The performance test of the brake is conducted on a self-developed experimental platform,and the results show that the brake exhibits have high TVR,low initial braking torque,and favorable dynamic characteristics.The brake achieves a maximum TVR of 42.4 kN/m² in a small volume,which is well suited for haptic interaction,rehabilitation training,wearable devices and other applications requiring small volume and large output force/torque.