A small three-degree-of-freedom spherical magnetorheological fluid actuator with multi-directional control

Abstract

The invention discloses a small three-degree-of-freedom spherical magneto-rheological fluid actuator controlled in multiple directions, which includes a joystick, a spherical rotor, a sealing unit, a stator unit, and an excitation unit; there are several excitation units, and the several excitation units are evenly distributed. Distributed in the sealing unit and located around the spherical rotor; each excitation unit can be controlled individually, and each excitation unit corresponds to a stator group; the excitation unit includes a winding shaft and a coil, the coil is wound on the winding shaft, and the winding shaft is covered by the stator group Fixed support; spherical rotor, stator group and winding shaft together form a magnetic yoke; activate single or multiple excitation units to generate a magnetic field, and the magnetic field changes the yield strength of the magneto-rheological fluid, so that when the joystick is moved, there is a corresponding direction and degree of freedom Passive force / torque feedback. By combining the structural advantages of the multi-degree-of-freedom movement of the spherical actuator with the excellent characteristics of the magnetorheological fluid, the spherical actuator is more in line with the needs of multi-degree-of-freedom human-computer interaction, and can significantly improve the realism and immersion of human-computer interaction sense.

Description

technical field [0001] The invention mainly relates to a spherical magnetorheological fluid actuator, which can realize force / torque control on multiple motion directions in three degrees of freedom, specifically a small three-degree-of-freedom spherical magnetorheological actuator with multi-directional control. liquid actuator. Background technique [0002] In the field of human-computer interaction, haptic devices that can realize the interaction between the operator and virtual or distant objects and transmit the information generated during the interaction to the operator through haptic feedback are attracting more and more attention. Common haptic devices usually use single-degree-of-freedom actuators capable of rotational or linear motion, such as motor-based active actuators or semi-active actuators based on electrorheological fluids or magnetorheological fluids, to achieve force feedback. For multi-degree-of-freedom manipulation tasks, traditional haptic devices of...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to propose a small three-degree-of-freedom spherical magneto-rheological fluid actuator with multi-direction control, which effectively solves the problem that the traditional semi-active spherical actuator will lock all the degrees of freedom of movement after being activated, and in the The problem of outputting a fixed amount of force / moment in all directions of motion

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