Force Feedback Technology Of Haptic Device Based On Magnetorheological Fluid

Force feedback technology is an important technical means to effectively enhance the effect of human-computer interaction.It is widely used in industry,education,medicine and other industries.Teleoperation robots and the famous virtual reality(VR)technology are using force feedback technology to greatly enhanced the sense of immersion.Now the research of force feedback technology is focus on haptic devices.The haptic device is a medium that can help people perceive the operating environment and control teleoperation robots.Through the analysis of the current situation of the research of haptic devices at home and abroad,it can be seen that the vast majority of the current haptic devices are driven by motors and a few are driven by air pressure.However,the current haptic devices still have some drawbacks in safety and stability.Magnetorheological fluid is a kind of new liquid intelligent material with important engineering application value and broad development prospect.The special rheological effect of it makes the MR damper become a very promising passive control device,which let many scholars are committed to the study of force feedback technology based on magnetorheological fluid.This thesis designs a new haptic device force feedback system with 7 DOF based on magnetorheological fluid,which reduces the security risk of force feedback devices driven only by motors.Its structure completes the design of MR damper.Its hardware completes the collection of every DOF's angle information of the device and the control to the force feedback actuator.In addition,it also realizes the serial communication with computer.Its software consists of detection and control software and virtual scene software.The main work and innovation of this thesis are as follows:(1)Designed a multi-chip MR damper with serpentine magnetic circuit and a multi-drum MR damper.(2)The parallel connecting rod structure and the rhombic stretching structure are connected in series to fonn a translational structure of the haptic device.The rotating structure is installed at the end of the translational structure to realize the decoupling of translational freedom and rotational freedom.(3)The haptic device has two force feedback actuators,DC motor is for the translational structure and the finger force feedback device and the multi-drum MR damper is for the rotating structure.(4)The detection control software and the virtual scene software are designed separately,and develop the detection control software's interface specification for external communication.Realize the connection between the virtual scene software,based on the Unity 3D platform,and the detection and control software.(5)Through the calibration experiment,it is verified that the hantic device has high terminal position accuracy.