文章基本信息

标题：Design of a New 4-DOF Haptic Master Featuring Magnetorheological Fluid:
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作者：Byung-Keun Song ; Jong-Seok Oh ; Seung-Bok Choi 等
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2014
卷号：6
页码：1-13
DOI：10.1155/2014/843498
语种：English
出版社：Sage Publications Ltd.
摘要：This work presents a novel 4-degree-of-freedom (4-DOF) haptic master using magnetorheological (MR) fluid which is applicable to a robot-assisted minimally invasive surgery (RMIS) system. By using MR fluid, the proposed haptic device can easily generate bidirectional repulsive torque along the directions of the required motions. The proposed master consists of two actuators: an MR bidirectional clutch associated with a planetary gear system and an MR clutch with a bevel gear system. After demonstrating the configuration, the torque models of MR actuators are mathematically derived based on the field-dependent Bingham model. An optimal design that accounts for spatial-limitation and the desired torque constraint is then undertaken. An optimization procedure based on finite element analysis is proposed to determine optimal geometric dimensions. Based on the design procedure, MR haptic master with the optimal parameters has been manufactured. In order to demonstrate the practical feasibility of the proposed haptic master, the field-dependent generating repulsive force is measured. In addition, a proportional-integral-derivative (PID) controller is empirically implemented to accomplish the desired torque trajectories. It has been shown that the proposed haptic master can track the desired torque trajectory without a significant error.