Structure Design And Dynamics Analysis Of Piezoelectric Tactile Feedback Actuator

With the continuous development of human-computer interaction technology,visual and auditory simulations have become more mature,and the research on tactile simulation technology has become more and more in-depth.A variety of haptic feedback actuators such as electromagnetic,piezoelectric,pneumatic,and electrical stimulation have emerged.Among them,the piezoelectric type has the characteristics of small vibration irritability and stable vibration,and is suitable for long-term use.In this paper,a piezoelectric haptic feedback actuator is proposed.The tactile feedback actuator is based on the ciliary body-like touch beam,which changes the equivalent friction coefficient to change the tactile sensation.It has the features of simple structure and control system,and can achieve the tactile changes of different positions and different direction,and increases the stability and variety of touch.Through the preliminary establishment of the mathematical model,the specific dimensions of the touch beam are determined,the actuator parts and the ciliary body-like touch beam structures are selected,the dynamic model of the touch beam is established,and the inherent modes of the tactile execution module are calculated in sections.The influence of different parameters on the natural mode of the touch beam is analyzed.The results show that the natural frequency of the sixth-order cantilever touch beam is suitable as the excitation frequency,and the thickness,length,elastic modulus and other parameters of the touch beam have a great influence on the natural frequency.Vibration excitation of a piezoelectric plate coupling touch beam is performed to establish a segmented coupling-forced vibration analysis model.The forced response under different boundary conditions and natural frequencies of the touch beam is solved.The forced vibration of the touch beam is analyzed and calculated.The frequency domain response is analyzed and the influence of different parameters on the forced response of the touch beam is analyzed.The results show that the damping ratio and the excitation voltage have a great influence on the forced response of the touch beam.The parameters such as the position and the excitation voltage all affect the acceleration of the ciliary bodies.A full-coverage anisotropic vibration haptic model and a local-coverage anisotropic vibration haptic model have been established.The functional relationship between the equivalent friction coefficient of the cantilever touch beam and the number of the same dierection ciliary body of the full-coverage cantilever touch beam are obtained,and the relationship between the equivalent friction coefficient and the position coordinate of the local-coverage cantilever touch beam are obtained.The influence of different parameters on the equivalent friction coefficient is analyzed.The results show that the full coverage is mainly affected by the proportion of the same direction of ciliary body and the frequency of excitation.The local coverage is mainly affected by the touch position and the excitation voltage.The larger the excitation frequency is,the greater the friction coefficient is.A haptic actuator control system is designed and a tactile feedback actuator prototype is created.The vibration response of the touch beam is tested,the equivalent friction coefficient is tested,and the human factor experiment is conducted.The correctness of the tactile theory of piezoelectric haptic feedback actuator and the effectiveness of tactile control are verified.The results show that the experimental results are basically consistent with the theoretical calculations,and the prototype has a good tactile effect.