[1]王爱民,戴金桥.一种新型的力反馈实现方法[J].东南大学学报(自然科学版),2007,37(3):414-419.[doi:10.3969/j.issn.1001-0505.2007.03.012]
 Wang Aimin,Dai Jinqiao.Novel technique for force feedback[J].Journal of Southeast University (Natural Science Edition),2007,37(3):414-419.[doi:10.3969/j.issn.1001-0505.2007.03.012]
点击复制

一种新型的力反馈实现方法()
分享到:

《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
37
期数:
2007年第3期
页码:
414-419
栏目:
自动化
出版日期:
2007-05-20

文章信息/Info

Title:
Novel technique for force feedback
作者:
王爱民 戴金桥
东南大学仪器科学与工程学院, 南京 210096
Author(s):
Wang Aimin Dai Jinqiao
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
关键词:
力反馈 电流变液 数据手套 虚拟现实
Keywords:
force feedback electrorheological fluids dataglove virtual reality
分类号:
TP24
DOI:
10.3969/j.issn.1001-0505.2007.03.012
摘要:
针对虚拟现实和遥操作机器人技术的需要,提出了一种实现力反馈新技术.电流变液是一种智能材料,在电场作用下其流变学特性如粘度能够在几毫秒时间内发生连续可逆的变化.利用电流变液的这种特殊性能,采用类似汽缸和活塞的结构设计了一种力反馈装置,汽缸与活塞分别作为电场的两极,它们之间充满电流变液,当有电场存在时电流变液粘度发生变化,从而阻碍活塞相对汽缸的运动,产生连续可调的阻力.阐述了力反馈装置的设计方法,建立了结构模型和动力学模型,提出了由该装置实现的力反馈数据手套及其控制方法,最后进行虚拟碰撞实验验证了所提出方法的有效性.
Abstract:
A novel technique for force feedback is presented for the virtual reality and tele-robotics. Electrorheological fluids are smart materials that experience continuous and reverse changes in rheological properties(such as viscosity)in a few milliseconds in the presence of an electric field. A force feedback interface is developed on basis of this special characteristic of the electrorheological fluids. A quasi-cylinder and quasi-piston is adopted in interface design, the cylinder and the piston act as the electrodes of an electric field which is filled with electrorheological fluid. When an electric field is applied the apparent viscosity increases, the relative motion between the cylinder and piston is resisted, thus a continuously tunable resistance is produced. The designing method of the force feedback interface is presented, the structural and mathematical model are developed, and the control method of the force feedback data glove based on the interface is presented. Finally, a virtual collision experiment is provided to verify the validity of the design.

参考文献/References:

[1] Zhou Zhihua,Wan Huagen,Gao Shuming,et al.A realistic force rendering algorithm for CyberGrasp[C] //Proc of the 9th International Conference on Computer Aided Design and Computer Graphics.Hong Kong,China,2005:409-414.
[2] Bouzit M,Popescu G,Burdea G,et al.The Rutgers Master Ⅱ-ND force feedback glove[C] //Proc of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.Orlando,FL,2002:145-152.
[3] Yuan Kui,Zhu Haibing.A new kind of force-reflecting device and its control[C] //Proc of IEEE Conference on Intelligent Robots and System.Lausanne,Switzerland,2002:2920-2924.
[4] Niu Xize,Lee Yi-Kuen,Liu Liyu,et al.Micro valve and chaotic mixer driven by electrorheological fluid[C] //Proc of IEEE International Conference on Nano/Micro Engineered and Molecular Systems.Zhuhai,China,2006:1254-1257.
[5] Hong Sung Ryong,Choi Seung Bok,Choi Young Tai,et al.Comparison of damping force models for an electrorheological fluid damper[J].International Journal of Vehicle Design,2003,33(1/2/3):17-35.
[6] Sato Masatake,Savchenko Vladimir,Ohbuchi Ryutarou.3D freeform design:interactive shape deformations by the use of cyberglove[C] //Proc of International Conference on Cyberworlds.Tokyo,Japan,2004:147-154.
[7] Pfeiffer Charles,Mavroidis Constantinos,Bar-Cohen Yoseph,et al.Electrorheological fluid based force feedback device[C] //Proc of the 1999 SPIE Conference on Telemanipulator and Telepresence Technologies.Boston,MA,1999:88-99.
[8] Mavroidis C,Pfeiffer C,Celestino J,et al.Controlled compliance haptic interface using electro-rheological fluids[C] //Proc of the 2000 SPIE Conference on Electro-Active Polymer Actuators and Devices.Newport Beach,CA,2000:300-310.
[9] Li Jianjun,Gruver William A.An electrorheological fluid damper for vibration control[C] //Proc of the 1998 IEEE International Conference on Robotics & Automation.Leuven,Belgium,1998:2476-2481.
[10] 陈重,崔正勤.电磁场理论基础[M].北京:北京理工大学出版社,2003:52-58.

备注/Memo

备注/Memo:
基金项目: 国家重点基础研究发展计划(973计划)资助项目(2002CB312102)、国家自然科学基金资助项目(60675047,60643007,60475043).
作者简介: 王爱民(1968—),男,博士,副教授, wangam@seu.edu.cn.
更新日期/Last Update: 2007-05-20