Design, Modeling, and Control of Magnetorheological Fluid-Based Force Feedback Systems

基于磁流变流体的力反馈系统的设计、建模和控制

• 批准号: 0528395
• 负责人: Gregory Washington
• 金额: --
• 依托单位: Ohio State University Research Foundation -DO NOT USE
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2005
• 资助国家: 美国
• 起止时间: 2005-09-15 至 2009-02-28
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0528395&HistoricalAwards=false
• 关键词: Design; Modeling; Control; Magnetorheological; Fluid

CMS-0528395Washington, GregoryAbstractThe research in this study will develop a force feedback system for telerobotic manipulation based on magnetorheological (MR) fluid devices. Telerobotic systems consist of an operator handling one manipulator (the master) directly controlling a remote manipulator (the slave), which acts on an external object. Current state of the art force feedback telerobotic systems employ DC motors, hydraulics, or other linear actuators to simulate the resistances encountered when the remote slave touches an external object. These systems suffer from the following drawbacks: (1) Slave inertias are in general considerably larger than their corresponding master inertias, which leads to the feedback of large signals emanating from impacts between the slave and its external object. (2) Force feedback necessitates larger components (motors, hydraulics, etc.), limiting the systems' use in a number of applications, especially minimally invasive telerobotic surgery. (3) Multi degree of freedom force feedback systems are inherently complex due to the coupling of electromechanical and control issues with a human interface, leading to prohibitive cost. By synergistically combining novel 3-D MR fluid devices with the full 3-D microstructural analysis and control, the PIs will create novel force feedback systems that overcome the limitations of traditional force feedback systems, listed above. This study will focus on telerobotic systems, mainly telerobotic surgery which consists of a surgeon handling one manipulator (the master) directly controlling a remote robot (the slave), which acts on the patient. Current systems only produce visual feedback. The goal of this endeavor will be to provide not only visual feedback to the surgeon but tactile feedback as well. Among the many applications of this research will be the ability to enable a surgeon in New York to safely operate on a soldier in Iraq. The fundamental research contribution is the development of specially designed magnetorheological (MR) fluid devices and the accompanying software to control them. An MR fluid, consisting of micro and nano sized iron particles suspended in oil, greatly changes its ability to flow with the application of a low level applied magnetic field. These MR fluid devices will have the ability to mimic from afar the resistance encountered by the robot, thereby enabling the surgeon to realistically "feel" what the remote robot encounters. The advances of this research can also be applied to industrial machines, biomedicine, aerospace systems, robotics, video and computer games, and virtual reality devices. As a part of the effort to promote learning and education in broad levels, the investigators will engage both college undergraduates and middle school students in the research. In reference to outreach, the investigators will spearhead a two-week engineering mini camp for "at risk" 8th grade girls.

CMS-0528395华盛顿，格雷戈里摘要本研究将开发一种基于磁流变(MR)流体装置的远程机器人操作的力反馈系统。遥控机器人系统由操作员操作一个机械手(主)，直接控制作用于外部物体的远程机械手(从)组成。当前技术水平的力反馈遥控机器人系统采用直流马达、液压或其他线性致动器来模拟远程从机接触外部对象时遇到的阻力。这些系统有以下缺点：(1)从属惯性一般比其相应的主惯性大得多，这导致从属与其外部物体之间的碰撞所发出的大信号的反馈。(2)力反馈需要更大的部件(马达、液压等)，限制了该系统在许多应用中的使用，特别是微创远程机器人手术。(3)由于机电和控制问题与人机接口的耦合，多自由度力反馈系统本质上是复杂的，导致成本过高。通过将新型3-D磁流变液装置与完整的3-D微结构分析和控制协同结合，PI将创建新型力反馈系统，克服上述传统力反馈系统的局限性。这项研究将集中在远程机器人系统，主要是远程机器人手术，由外科医生操作一个操作器(主)直接控制远程机器人(从)，后者作用于患者。目前的系统只产生视觉反馈。这一努力的目标将不仅是为外科医生提供视觉反馈，而且还将提供触觉反馈。在这项研究的众多应用中，将有能力使纽约的外科医生能够安全地为伊拉克士兵进行手术。基础研究的贡献是开发了专门设计的磁流变(MR)流体设备和控制它们的配套软件。磁流变液由悬浮在油中的微米和纳米铁颗粒组成，在低水平的外加磁场的作用下，它的流动能力会发生很大的变化。这些磁流变液设备将具有从远处模拟机器人遇到的阻力的能力，从而使外科医生能够逼真地感受到远程机器人遇到的情况。这项研究的进展也可以应用于工业机械、生物医学、航空航天系统、机器人、视频和计算机游戏以及虚拟现实设备。作为在广泛层面上促进学习和教育的努力的一部分，调查人员将邀请大学生和中学生参与这项研究。在外展方面，调查人员将带头为“有风险”的8年级女孩开办一个为期两周的工程学迷你夏令营。