摘要
针对虚拟现实和遥操作系统中人机交互的需要,提出了一种新型的被动力再现实现方法。磁流变液是一种新型智能材料,施加磁场后其流变学特性将发生剧烈的变化,在几毫秒时间内由牛顿流体状态转变为类固体状态。该文利用磁流变液的这种特殊性能,提出了一种被动力再现方法,研制了力再现装置。在分析其实现原理的基础上,建立了其动力学模型,并利用电磁场有限元方法分析了力再现装置输出力与控制电流的关系,最后建立了实验装置进行了力实验,验证所提方法的有效性。
This paper presents a novel approach to the implementation of passive force feedback for the need of human-machine interaction in virtual reality and teleoperation systems. The MR fluids are those kinds of substance that respond to an applied magnetic field with a drastic change in a rheological behavior. The fluid changes itself from the Newtonian liquid to semisolid in several milliseconds. This property provides the approach to performing the passive force feedback. A necessary interface is developed. The principle is analysed and the kinetics model is set up. The relationship between the output force and the control current is obtained by using the electromagnetic finite element to analyse software. An experiment is done and the validity of the approach is verified in the end.
出处
《工业仪表与自动化装置》
2008年第6期42-45,共4页
Industrial Instrumentation & Automation
基金
国家863项目(2006AA01Z329
2006AA04Z243)
国家自然科学基金资助项目(60675047
60775057)
关键词
力再现
磁流变液
有限元分析
人机交互
force feedback
MR fluids
finite element analysis
human-machine interaction
