Thiết kế và tính toán tối ưu hệ thống phản hồi lực 3 chiều dùng phanh chất lưu từ biến=Design and optimal calculation for the 3d haptic joystick using mr brakes

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Tác giả: Bảo Trí Diệp

Ngôn ngữ: vie

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Thông tin xuất bản: Khoa học và Công nghệ (ĐH Công nghiệp TP. HCM), 2024

Mô tả vật lý: tr.22-33

Bộ sưu tập: Metadata

ID: 246504

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Mục tiêu của nguyên cứu này là thiết kế và đánh giá khả năng phản hồi của cần điều khiển 3D phản hồi lực sử dụng ba phanh MRF (Magnetorheological fluid) thông qua cơ cấu khung xoay. Sau khi tổng hợp các nguyên cứu có liên quan về hệ thống phản hồi lực sử dụng lưu chất MRF, một cấu hình của cần điều khiển 3D phản hồi lực là được đề xuất trong nghiên cứu này. Cấu hình của cần điều khiển 3D phản hồi lực bao gồm ba phanh MRF được kết hợp vuông góc với nhau thông qua cơ chế khung xoay 3 chiều để tạo ra lực phản hồi cho từng chuyển động theo các phương X,Y, Z. Sau đó, tác giả đi thiết kế mô hình phanh MRF cho hệ phản hồi lực 3D đã được đề xuất dựa trên mô hình dẻo Bingham và phương pháp phần tử hữu hạn. Để giảm khối lượng cũng như là chi phí chế tạo cho các phanh MRF, bài toán tối ưu hóa đơn mục tiêu cho phanh MRF được thực hiện bằng phương pháp PSO (Particle Swarm Optimization). Trên cơ sở các kết quả tối ưu như thông số hình học tối ưu của MRB để thiết kế mô hình cần điều khiển 3D phản hồi lực và chế tạo rồi sau đó tiến hành thực nghiệm để kiểm tra lực phản hồi. Từ đó, nghiên cứu này sẽ mở ra cho việc nghiên cứu phản hồi lực trong lĩnh vực điều khiển từ xa cụ thể có thể áp dụng cho hệ thống Master – Slave sau này.This research aims to create and assess the responsiveness of the 3D haptic system that uses three MRBs (Magneto-Rheological Brakes) through a gimbal mechanism. A 3D haptic joystick configuration is suggested after a review of relevant research on force feedback systems using MRF actuators. The gimbal mechanism combines the three MRBs used in this 3D haptic joystick configuration perpendicularly to create force feedback for each distinct rotational motion (X, Y, Z) of the suggested haptic system. Afterward, The Bingham plastic rheological model and the finite element method were used in the design and modeling of these MRBs for the 3D haptic joystick. Particle swarm optimization (PSO) method is employed to tackle the objective optimization problem for MRBs in order to decrease the mass as well as the manufacturing costs of the suggested MRBs. After having the optimal results, the 3D haptic joystick model was built and evaluated the feedback force. Subsequently, the research of force feedback in the field of remote control, which will be potentially applied to the Master-Slave system and popular in the future.

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