| 一种改进的主/被动结合的力反馈技术 |
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| 引用本文： | 戴金桥,宋爱国,王爱民. 一种改进的主/被动结合的力反馈技术[J]. 制造业自动化, 2007, 29(5): 66-71 |
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| 作者姓名： | 戴金桥 宋爱国 王爱民 |
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| 作者单位： | 东南大学仪器科学与工程学院,南京,210096 |
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| 基金项目： | 国家重大基础研究973项目资助(2002CB312102)，国家自然科学基金项目(60675047) |
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| 摘 要： | 根据虚拟现实、遥操作机器人系统和远程外科手术等领域的需要,针对主、被动力反馈存在的问题,在现有的主/被动混合型力反馈实现方法的基础上,提出了一种改进的串联弹性元件的主/被动相结合的力反馈实现方法,自行研制了制动力矩可控的磁流变液制动器用于实现被动力反馈,给出了该制动器的设计原理,建立了动力学模型。利用研制出的磁流变液制动器,组建了简单的能够实现主/被动力反馈功能的实验系统,利用不同弹性系数的弹簧模拟不同的实验环境及极端情况,对实验系统进行了力跟踪实验,实验结果验证了所提方法的有效性。
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| 关 键 词： | 力反馈 混合 串联弹性元件 磁流变液 |
| 文章编号： | 1009-0134(2007)05-0066-06 |
| 修稿时间： | 2006-12-30 |
An improved hybrid active/passive force feedback technique |
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| DAI Jin-qiao,SONG Ai-guo,WANG Ai-min. An improved hybrid active/passive force feedback technique[J]. Manufacturing Automation, 2007, 29(5): 66-71 |
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| Authors: | DAI Jin-qiao SONG Ai-guo WANG Ai-min |
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| Affiliation: | School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China |
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| Abstract: | In order to overcome the disadvantage of the force feedback systems now available,an improved approach,which introduces a series elastic component to a hybrid active/passive force feedback system,is presented for the application of virtual reality,tele-robotic system,tele-surgery,and so on. A magneto-rheological fluid (MRF) based brake with controllable torque is developed for the passive force feedback. The principle is introduced and the kinetics model is developed. With the brake a simple experimental system is set up and experiments simulating different conditions by springs with different elastic constant are done on it,the validity is verified by the results. |
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| Keywords: | force feedback hybrid series elastic component magneto-rheological |
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