论文标题
动力学触觉器件的低惯性磁性执行器的性能研究
Performance Study of Low Inertia Magnetorheological Actuators for Kinesthetic Haptic Devices
论文作者
论文摘要
高质量虚拟现实（VR）模拟的一个挑战是开发高保真性触觉设备，这些设备可以在低频和高频下产生各种阻碍。为此，对磁性执行器（MR）执行器的性能进行了彻底的分析和实验评估，并将其与电动机（EM）致动。动力学触觉设备的2度动力学模型用于进行分析研究，以比较两种技术的渲染区域，渲染带宽，齿轮和缩放。通过实验验证在广泛的工作条件下，通过实验验证来证实仿真预测。结果表明，对于相同的输出力，MR执行器可以使带宽比电动机高52.9％，因为它们的惯性低。与电动机不同，在触觉设备中使用的MR执行器的性能不受其输出惯性的限制，而是通过其粘性阻尼的限制，必须在设计阶段仔细解决。
A challenge to high quality virtual reality (VR) simulations is the development of high-fidelity haptic devices that can render a wide range of impedances at both low and high frequencies. To this end, a thorough analytical and experimental assessment of the performance of magnetorheological (MR) actuators is performed and compared to electric motor (EM) actuation. A 2 degrees-of-freedom dynamic model of a kinesthetic haptic device is used to conduct the analytical study comparing the rendering area, rendering bandwidth, gearing and scaling of both technologies. Simulation predictions are corroborated by experimental validation over a wide range of operating conditions. Results show that, for a same output force, MR actuators can render a bandwidth over 52.9% higher than electric motors due to their low inertia. Unlike electric motors, the performance of MR actuators for use in haptic devices are not limited by their output inertia but by their viscous damping, which must be carefully addressed at the design stage.
