Development of Second Prototype of Twin-Driven Magnetorheological Fluid Actuator for Haptic Device.

IF 3 3区 工程技术 Q2 CHEMISTRY, ANALYTICAL Micromachines Pub Date : 2024-09-25 DOI:10.3390/mi15101184
Takehito Kikuchi, Asaka Ikeda, Rino Matsushita, Isao Abe
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Abstract

Magnetorheological fluids (MRFs) are functional fluids that exhibit rapid and reproducible rheological responses to external magnetic fields. An MRF has been utilized to develop a haptic device with precise haptic feedback for teleoperative surgical systems. To achieve this, we developed several types of compact MRF clutches for haptics (H-MRCs) and integrated them into a twin-driven MRF actuator (TD-MRA). The first TD-MRA prototype was successfully used to generate fine haptic feedback for operators. However, undesirable torque ripples were observed due to shaft misalignment and the low rigidity of the structure. Additionally, the detailed torque control performance was not evaluated from both static and dynamic current inputs. The objective of this study is to develop a second prototype to reduce torque ripple by improving the structure and evaluating its static and dynamic torque performance. Torque performance was measured using both constant and stepwise current inputs. The coefficient of variance of the torque was successfully reduced by half due to the structural redesign. Although the time constants of the H-MRC were less than 10 ms, those of the TD-MRA were less than 20 ms under all conditions. To address the slower downward output response, we implemented an improved input method, which successfully halved the response time.

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开发用于触觉设备的双驱动磁流变流体致动器第二原型。
磁流变流体(MRF)是一种功能流体,对外部磁场具有快速、可重复的流变响应。磁流变流体已被用于为远程手术系统开发具有精确触觉反馈的触觉装置。为此,我们开发了几种用于触觉装置的紧凑型磁共振力场离合器(H-MRC),并将它们集成到双驱动磁共振力场致动器(TD-MRA)中。第一个 TD-MRA 原型已成功用于为操作员生成精细的触觉反馈。然而,由于轴错位和结构刚度较低,观察到了不理想的扭矩波纹。此外,没有从静态和动态电流输入评估详细的扭矩控制性能。本研究的目的是开发第二个原型,通过改进结构和评估其静态和动态扭矩性能来减少扭矩纹波。使用恒定电流输入和阶跃电流输入测量了扭矩性能。由于对结构进行了重新设计,扭矩的方差系数成功降低了一半。虽然 H-MRC 的时间常数小于 10 毫秒,但 TD-MRA 的时间常数在所有条件下均小于 20 毫秒。为了解决向下输出响应较慢的问题,我们采用了一种改进的输入方法,成功地将响应时间缩短了一半。
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来源期刊
Micromachines
Micromachines NANOSCIENCE & NANOTECHNOLOGY-INSTRUMENTS & INSTRUMENTATION
CiteScore
5.20
自引率
14.70%
发文量
1862
审稿时长
16.31 days
期刊介绍: Micromachines (ISSN 2072-666X) is an international, peer-reviewed open access journal which provides an advanced forum for studies related to micro-scaled machines and micromachinery. It publishes reviews, regular research papers and short communications. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible. There is no restriction on the length of the papers. The full experimental details must be provided so that the results can be reproduced.
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