一种被动力反馈阻尼器及其模型研究

根据力觉反馈的需要,设计了一种基于磁流变液的阻尼器,并建立了模型。介绍了磁流变液阻尼器的设计方法,该阻尼器由上、下盖组成密闭的壳体,转子通过轴设置于壳体内,壳体内充满磁流变液,在磁场作用下磁流变液屈服应力产生变化,转子相对于壳体转动时阻尼力连续快速变化,分析了阻尼器阻尼力构成及其可控性,运用较为简化的方法建立了阻尼器的逆动态模型,利用研制的阻尼器原型设计了实验系统并进行了挤压柔顺性物体和碰撞刚体力反馈实验,实验中阻尼器能够实现大范围的力觉反馈,因此表明设计方法有效、模型正确。

Research on a Passive Force Feedback Damper and the Model

A magnetorheological fluid based damper has been designed and the model has been set up for force feedback. The design method of the damper is introduced. The sealed shell of the damper is composed of an upside cap and an underside cap. A rotor is located in the shell by an axle, with the magnetorheological fluid being filled in the shell. When the yield stress of magnetorheological fluid applied by a magnetic field changes, the damping force of the rotor rotating relative to shell changes rapidly and continuously. The compositions of the damping force and their controllability are analyzed, and a simplified inverse dynamics model is developed. An experimental system is set up using the damper prototype, on which force feedback experiments of squeezing a compliance object and colliding a rigid body are done. A large scope of force feedback is implemented and so validity of the design and the model of the damper are verified.