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Development of an MR-brake-based haptic device

Identifieur interne : 000B97 ( PascalFrancis/Corpus ); précédent : 000B96; suivant : 000B98

Development of an MR-brake-based haptic device

Auteurs : B. Liu ; W. H. Li ; P. B. Kosasih ; X. Z. Zhang

Source :

RBID : Pascal:07-0060121

Descripteurs français

English descriptors

Abstract

This paper describes the design, testing and modelling of a magneto-rheological (MR) fluid brake as well as its application in a haptic device. The MR device, in disc shape, is composed of a rotary shaft and plate, an electromagnetic coil, MR fluids, and casings. The working principle of the actuator is discussed and the transmitted torque equation employed by using the Bingham plastic model. The optimal dimensions of the actuator were obtained by finite-element analysis using the COSMOSEMS package. Following manufacturing and fabrication of the actuator prototype, the steady-state performance of the MR actuator was measured using a force gauge. The experimental results show that the actuator exhibits hysteresis behaviour. A sub-hysteresis model was then proposed and the model parameters were identified. Example applications of this actuator in virtual reality are demonstrated.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

pA  
A01 01  1    @0 0964-1726
A03   1    @0 Smart mater. struc.
A05       @2 15
A06       @2 6
A08 01  1  ENG  @1 Development of an MR-brake-based haptic device
A11 01  1    @1 LIU (B.)
A11 02  1    @1 LI (W. H.)
A11 03  1    @1 KOSASIH (P. B.)
A11 04  1    @1 ZHANG (X. Z.)
A14 01      @1 School of Mechanical, Materials and Mechatronic Engineering, University of Wollongong @2 Wollongong, NSW 2522 @3 AUS @Z 1 aut. @Z 2 aut. @Z 3 aut. @Z 4 aut.
A20       @1 1960-1966
A21       @1 2006
A23 01      @0 ENG
A43 01      @1 INIST @2 26248 @5 354000159079190520
A44       @0 0000 @1 © 2007 INIST-CNRS. All rights reserved.
A45       @0 16 ref.
A47 01  1    @0 07-0060121
A60       @1 P
A61       @0 A
A64 01  1    @0 Smart materials and structures
A66 01      @0 GBR
C01 01    ENG  @0 This paper describes the design, testing and modelling of a magneto-rheological (MR) fluid brake as well as its application in a haptic device. The MR device, in disc shape, is composed of a rotary shaft and plate, an electromagnetic coil, MR fluids, and casings. The working principle of the actuator is discussed and the transmitted torque equation employed by using the Bingham plastic model. The optimal dimensions of the actuator were obtained by finite-element analysis using the COSMOSEMS package. Following manufacturing and fabrication of the actuator prototype, the steady-state performance of the MR actuator was measured using a force gauge. The experimental results show that the actuator exhibits hysteresis behaviour. A sub-hysteresis model was then proposed and the model parameters were identified. Example applications of this actuator in virtual reality are demonstrated.
C02 01  X    @0 001D12E04
C03 01  X  FRE  @0 Frein @5 06
C03 01  X  ENG  @0 Brake @5 06
C03 01  X  SPA  @0 Freno @5 06
C03 02  X  FRE  @0 Sensibilité tactile @5 07
C03 02  X  ENG  @0 Tactile sensitivity @5 07
C03 02  X  SPA  @0 Sensibilidad tactil @5 07
C03 03  X  FRE  @0 Fluide magnétorhéologique @5 08
C03 03  X  ENG  @0 Magnetorheological fluid @5 08
C03 03  X  SPA  @0 Fluido magnetoreologico @5 08
C03 04  X  FRE  @0 Arbre transmission @5 09
C03 04  X  ENG  @0 Shaft @5 09
C03 04  X  SPA  @0 Arbol transmisión @5 09
C03 05  X  FRE  @0 Plaque @5 10
C03 05  X  ENG  @0 Plate @5 10
C03 05  X  SPA  @0 Placa @5 10
C03 06  X  FRE  @0 Electromagnétisme @5 11
C03 06  X  ENG  @0 Electromagnetism @5 11
C03 06  X  SPA  @0 Electromagnetismo @5 11
C03 07  X  FRE  @0 Actionneur @5 12
C03 07  X  ENG  @0 Actuator @5 12
C03 07  X  SPA  @0 Accionador @5 12
C03 08  X  FRE  @0 Couple mécanique @5 13
C03 08  X  ENG  @0 Mechanical torque @5 13
C03 08  X  SPA  @0 Cupla mecánica @5 13
C03 09  X  FRE  @0 Transmission mécanique @5 14
C03 09  X  ENG  @0 Mechanical drive @5 14
C03 09  X  SPA  @0 Transmisión mecánica @5 14
C03 10  X  FRE  @0 Régime permanent @5 15
C03 10  X  ENG  @0 Steady state @5 15
C03 10  X  SPA  @0 Régimen permanente @5 15
C03 11  X  FRE  @0 Hystérésis @5 16
C03 11  X  ENG  @0 Hysteresis @5 16
C03 11  X  SPA  @0 Histéresis @5 16
C03 12  X  FRE  @0 Réalité virtuelle @5 17
C03 12  X  ENG  @0 Virtual reality @5 17
C03 12  X  SPA  @0 Realidad virtual @5 17
C03 13  X  FRE  @0 Fluide Bingham @5 20
C03 13  X  ENG  @0 Bingham plastic @5 20
C03 13  X  SPA  @0 Fluido Bingham @5 20
C03 14  X  FRE  @0 Modélisation @5 27
C03 14  X  ENG  @0 Modeling @5 27
C03 14  X  SPA  @0 Modelización @5 27
C03 15  X  FRE  @0 Méthode élément fini @5 28
C03 15  X  ENG  @0 Finite element method @5 28
C03 15  X  SPA  @0 Método elemento finito @5 28
C03 16  X  FRE  @0 Identification système @5 29
C03 16  X  ENG  @0 System identification @5 29
C03 16  X  SPA  @0 Identificación sistema @5 29
C03 17  X  FRE  @0 Etude expérimentale @5 33
C03 17  X  ENG  @0 Experimental study @5 33
C03 17  X  SPA  @0 Estudio experimental @5 33
N21       @1 036
N44 01      @1 OTO
N82       @1 OTO

Format Inist (serveur)

NO : PASCAL 07-0060121 INIST
ET : Development of an MR-brake-based haptic device
AU : LIU (B.); LI (W. H.); KOSASIH (P. B.); ZHANG (X. Z.)
AF : School of Mechanical, Materials and Mechatronic Engineering, University of Wollongong/Wollongong, NSW 2522/Australie (1 aut., 2 aut., 3 aut., 4 aut.)
DT : Publication en série; Niveau analytique
SO : Smart materials and structures; ISSN 0964-1726; Royaume-Uni; Da. 2006; Vol. 15; No. 6; Pp. 1960-1966; Bibl. 16 ref.
LA : Anglais
EA : This paper describes the design, testing and modelling of a magneto-rheological (MR) fluid brake as well as its application in a haptic device. The MR device, in disc shape, is composed of a rotary shaft and plate, an electromagnetic coil, MR fluids, and casings. The working principle of the actuator is discussed and the transmitted torque equation employed by using the Bingham plastic model. The optimal dimensions of the actuator were obtained by finite-element analysis using the COSMOSEMS package. Following manufacturing and fabrication of the actuator prototype, the steady-state performance of the MR actuator was measured using a force gauge. The experimental results show that the actuator exhibits hysteresis behaviour. A sub-hysteresis model was then proposed and the model parameters were identified. Example applications of this actuator in virtual reality are demonstrated.
CC : 001D12E04
FD : Frein; Sensibilité tactile; Fluide magnétorhéologique; Arbre transmission; Plaque; Electromagnétisme; Actionneur; Couple mécanique; Transmission mécanique; Régime permanent; Hystérésis; Réalité virtuelle; Fluide Bingham; Modélisation; Méthode élément fini; Identification système; Etude expérimentale
ED : Brake; Tactile sensitivity; Magnetorheological fluid; Shaft; Plate; Electromagnetism; Actuator; Mechanical torque; Mechanical drive; Steady state; Hysteresis; Virtual reality; Bingham plastic; Modeling; Finite element method; System identification; Experimental study
SD : Freno; Sensibilidad tactil; Fluido magnetoreologico; Arbol transmisión; Placa; Electromagnetismo; Accionador; Cupla mecánica; Transmisión mecánica; Régimen permanente; Histéresis; Realidad virtual; Fluido Bingham; Modelización; Método elemento finito; Identificación sistema; Estudio experimental
LO : INIST-26248.354000159079190520
ID : 07-0060121

Links to Exploration step

Pascal:07-0060121

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<s0>Régimen permanente</s0>
<s5>15</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE">
<s0>Hystérésis</s0>
<s5>16</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG">
<s0>Hysteresis</s0>
<s5>16</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA">
<s0>Histéresis</s0>
<s5>16</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE">
<s0>Réalité virtuelle</s0>
<s5>17</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG">
<s0>Virtual reality</s0>
<s5>17</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA">
<s0>Realidad virtual</s0>
<s5>17</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE">
<s0>Fluide Bingham</s0>
<s5>20</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG">
<s0>Bingham plastic</s0>
<s5>20</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA">
<s0>Fluido Bingham</s0>
<s5>20</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE">
<s0>Modélisation</s0>
<s5>27</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG">
<s0>Modeling</s0>
<s5>27</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA">
<s0>Modelización</s0>
<s5>27</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE">
<s0>Méthode élément fini</s0>
<s5>28</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG">
<s0>Finite element method</s0>
<s5>28</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA">
<s0>Método elemento finito</s0>
<s5>28</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE">
<s0>Identification système</s0>
<s5>29</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG">
<s0>System identification</s0>
<s5>29</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA">
<s0>Identificación sistema</s0>
<s5>29</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE">
<s0>Etude expérimentale</s0>
<s5>33</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG">
<s0>Experimental study</s0>
<s5>33</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA">
<s0>Estudio experimental</s0>
<s5>33</s5>
</fC03>
<fN21>
<s1>036</s1>
</fN21>
<fN44 i1="01">
<s1>OTO</s1>
</fN44>
<fN82>
<s1>OTO</s1>
</fN82>
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<server>
<NO>PASCAL 07-0060121 INIST</NO>
<ET>Development of an MR-brake-based haptic device</ET>
<AU>LIU (B.); LI (W. H.); KOSASIH (P. B.); ZHANG (X. Z.)</AU>
<AF>School of Mechanical, Materials and Mechatronic Engineering, University of Wollongong/Wollongong, NSW 2522/Australie (1 aut., 2 aut., 3 aut., 4 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>Smart materials and structures; ISSN 0964-1726; Royaume-Uni; Da. 2006; Vol. 15; No. 6; Pp. 1960-1966; Bibl. 16 ref.</SO>
<LA>Anglais</LA>
<EA>This paper describes the design, testing and modelling of a magneto-rheological (MR) fluid brake as well as its application in a haptic device. The MR device, in disc shape, is composed of a rotary shaft and plate, an electromagnetic coil, MR fluids, and casings. The working principle of the actuator is discussed and the transmitted torque equation employed by using the Bingham plastic model. The optimal dimensions of the actuator were obtained by finite-element analysis using the COSMOSEMS package. Following manufacturing and fabrication of the actuator prototype, the steady-state performance of the MR actuator was measured using a force gauge. The experimental results show that the actuator exhibits hysteresis behaviour. A sub-hysteresis model was then proposed and the model parameters were identified. Example applications of this actuator in virtual reality are demonstrated.</EA>
<CC>001D12E04</CC>
<FD>Frein; Sensibilité tactile; Fluide magnétorhéologique; Arbre transmission; Plaque; Electromagnétisme; Actionneur; Couple mécanique; Transmission mécanique; Régime permanent; Hystérésis; Réalité virtuelle; Fluide Bingham; Modélisation; Méthode élément fini; Identification système; Etude expérimentale</FD>
<ED>Brake; Tactile sensitivity; Magnetorheological fluid; Shaft; Plate; Electromagnetism; Actuator; Mechanical torque; Mechanical drive; Steady state; Hysteresis; Virtual reality; Bingham plastic; Modeling; Finite element method; System identification; Experimental study</ED>
<SD>Freno; Sensibilidad tactil; Fluido magnetoreologico; Arbol transmisión; Placa; Electromagnetismo; Accionador; Cupla mecánica; Transmisión mecánica; Régimen permanente; Histéresis; Realidad virtual; Fluido Bingham; Modelización; Método elemento finito; Identificación sistema; Estudio experimental</SD>
<LO>INIST-26248.354000159079190520</LO>
<ID>07-0060121</ID>
</server>
</inist>
</record>

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