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中文摘要：
为了克服目前力反馈数据手套存在的安全性差、力再现范围小等不足，提出了一种磁流变液被动力觉驱动器实现方法．利用液体智能材料磁流变液在磁场作用下毫秒级时间内能连续、可逆地由牛顿流体状态转变为类似固体状态的特殊性能，设计了一种被动力觉驱动器；介绍了该驱动器的结构和实现原理，利用电磁场有限元分析方法分析了驱动器的电磁特性，在此基础上建立了驱动器的动力学模型，讨论了输出力的动态范围并进行初步实验验证．最后利用研制的驱动器原型构建了单手指力反馈数据手套并进行了初步实验．实验结果证明，基于磁流变液的被动力觉驱动器利用流体传递力，增加了输出力的稳定性，多旋转片结构使输出力增大2倍，并具有安全性好、力再现范围大等优点．
英文摘要：
To overcome the existing deficiency in force feedback dataglove, such as poor security, insufficiency of force for feedback, and so on, a passive force actuator based on magnetorheological fluid （MRF） for force feedback dataglove is presented. Utilizing the special properties of the magne- to-rheological fluid that the state can change from fluid to solid-like continuously and reversibly in several milliseconds when exposed to a magnetic field, a passive force actuator was designed. The structure and the principle are introduced. The electromagnetic property of the actuator is analyzed by electromagnetic finite element analysis, on this basis the kinetics model is developed, the output force range is discussed and the preliminary experiment is done. The force feedback dataglove was fabricated by the actuator developed for single finger and the primary experiments were done. The results verify that due to force transmission of the passive force actuator based on MRF by rheological fluid the stability of the output force is increased; the output force can be doubled by using multi-disc structure; in addition, it has the merits of good security, larger extent of force feedback, etc.
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