基于MRF的遥操作机器人触觉反馈装置设计与仿真  

Design and Simulation of Tactile Feedback Device for Teleoperation Robot Based on MRF

作　　者：于川 张林帅 顾硕鑫 蒋涛[1,3] 奉瑜[1] YU Chuan;ZHANG Linshuai;GU Shuoxin;JIANG Tao;FENG Yu(Chengdu University of Information Technology,Chengdu Sichuan 610225,China;Northwestern Polytechnical University,Xi’an Shaanxi 710129,China;Chengdu University of Traditional Chinese Medicine,Chengdu Sichuan 611137,China)

机构地区：[1]成都信息工程大学,四川成都610225 [2]西北工业大学,陕西西安710129 [3]成都中医药大学,四川成都611137

出　　处：《机床与液压》2023年第1期125-131,共7页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年科学基金项目(62203071);四川省科技计划资助项目(2023YFG0178);成都信息工程大学科研基金资助(KYTZ202108)。

摘　　要：力反馈或触觉反馈在人与环境交互中是一种十分重要的感知形式,能够给予感觉器官真实的反馈信息,使得操作者能够及时调整操作方向或操作力大小。在医疗、工业、微操作等领域,力反馈或触觉反馈具有广泛的应用前景。设计一种基于磁流变液(MRF)的遥操作机器人主端触觉反馈装置。该装置可应用在远程微装配、微操作等领域,能够给予遥操作者真实的触觉反馈,实现临场操作感,提高操作安全性。此外,该装置能够解决磁流变液阻尼器的漏液问题,减小操作杆与磁流变液容器外壳之间所产生的摩擦力的影响。针对研究时间最长、应用最广的阻尼器Bingham模型,搭建Simulink力学仿真模型并对该机器人主端触觉反馈装置所能提供的感知力进行仿真分析。结果表明:所设计的机器人主端触觉反馈装置可为操作者提供一个易于感知的触觉力,验证了该研究中遥操作机器人主端触觉反馈装置设计方案的可行性。Force feedback and tactile feedback are very important forms of perception in interaction between human and environment,which can give real feedback information.Operators are able to adjust the direction or force in time.In medical,industrial,micro-operation and other fields,force and tactile feedback have a wide range of application prospects.A tactile feedback device based on magnetorheological fluid(MRF)was proposed for the teleoperation robot.It gave the operator real tactile feedback,then the sense of on-site operation was realized,and the safety of operation was improved.In addition,by the device,the leakage problem of the magnetorheological fluid damper could be solved and the influence of friction generated was reduced.Aiming at the Bingham model of the damper,the Simulink mechanics simulation model was built.The perception power provided by the tactile feedback device of the robot was simulated and analyzed.The experimental results show that the designed tactile feedback device of the robot can provide an easy-to-perceive tactile force for the operator,which verifies the feasibility of the design scheme of the tactile feedback device for the teleoperation robot.

关 键 词：磁流变液阻尼器 Bingham模型 SIMULINK仿真 

分 类 号：TP211[自动化与计算机技术—检测技术与自动化装置]