力反馈装置的一种新的混合执行器方法

C. Rossa, J. Lozada, A. Micaelli
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引用次数: 14

摘要

提出了一种用于触觉装置的混合驱动器的新概念。该系统将可控磁流变制动器与传统直流电机相结合。两个执行机构都通过超跑离合器连接。因此,电机连接到手柄,而制动器只能在规定的方向上施加阻力。这种配置使制动器和电机能够同时啮合,因为电机施加的扭矩不会被制动器抵消。利用一自由度触觉装置研究了该概念及其控制规律。实验结果表明,将大功率制动器与小型直流电机相结合是可行的。这种方法降低了功耗,扩大了受力范围,实现了系统的全局稳定,从而为用户提供了安全保障。此外,所提出的独立控制律使驱动器能够适应许多不同的触觉应用。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A new hybrid actuator approach for force-feedback devices
A new concept of hybrid actuator for haptic devices is proposed. This system combines a controllable magnetorheological brake with a conventional DC motor. Both actuators are linked through an overrunning clutch. Thus, the motor is connected to the handle while the brake can exert a resistive force only in a defined direction. This configuration enables the brake and the motor to be engaged at the same time because the torque imposed by the motor is not canceled by the brake. The concept and its control laws have been investigated using a 1-DOF haptic device. The experimental results show that is possible to combine a powerful brake with a small DC motor. This approach reduces the power consumption, expand the range of forces, achieve global stability in the system providing thereby safety to the user. Besides, the proposed independent control laws enable the actuator to be adaptable in many different haptic applications.
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