Design and Experimental Validation of a 3-DOF Force Feedback System Featuring Spherical Manipulator and Magnetorheological Actuators
This research focuses on the development of a new 3-DOF (Degree of Freedom) force feedback system featuring a spherical arm mechanism and three magnetorheological (MR) brakes, namely two rotary MR brakes and one linear MR brake. The first rotary MR brake is integrated in the waist joint to reflect t...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-03-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/9/1/19 |
| _version_ | 1819064737365753856 |
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| author | Bao Tri Diep Ngoc Diep Nguyen Thanh T. Tran Quoc Hung Nguyen |
| author_facet | Bao Tri Diep Ngoc Diep Nguyen Thanh T. Tran Quoc Hung Nguyen |
| author_sort | Bao Tri Diep |
| collection | DOAJ |
| description | This research focuses on the development of a new 3-DOF (Degree of Freedom) force feedback system featuring a spherical arm mechanism and three magnetorheological (MR) brakes, namely two rotary MR brakes and one linear MR brake. The first rotary MR brake is integrated in the waist joint to reflect the horizontal tangent force, the other rotary MR brake is integrated in the shoulder joint to reflect the elevation tangent force, while the linear MR brake is integrated in the sliding joint of the arm to reflect the radial force (approach force). The proposed configuration can reflect a desired force to the operator at the end-effectors of the arm independently in 3 DOFs by controlling the current applied to the coils of the MR brakes. After the introduction, the configuration of the proposed force feedback system is presented. Afterward, the design and conducted simulation of the MR brakes for the systems are provided. The prototype of the force feedback system, which was manufactured for the experiment, is then presented as well as some of the obtained experimental results. Finally, the proposed control system is presented and its implementation to provide a desired feedback force to the operator is provided. |
| first_indexed | 2024-12-21T15:35:19Z |
| format | Article |
| id | doaj.art-7801286a98dd49fa8a5e08e6d8c7430d |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-12-21T15:35:19Z |
| publishDate | 2020-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-7801286a98dd49fa8a5e08e6d8c7430d2022-12-21T18:58:39ZengMDPI AGActuators2076-08252020-03-01911910.3390/act9010019act9010019Design and Experimental Validation of a 3-DOF Force Feedback System Featuring Spherical Manipulator and Magnetorheological ActuatorsBao Tri Diep0Ngoc Diep Nguyen1Thanh T. Tran2Quoc Hung Nguyen3Faculty of Civil Engineering and Applied Mechanics, HCMC University of Technology and Education, Ho Chi Minh City 71307, VietnamFaculty of Mechanical Engineering, Industrial University of Ho Chi Minh City, Ho Chi Minh City 71408, VietnamFaculty of Engineering, Vietnamese-German University, Binh Duong Province 75114, VietnamFaculty of Mechanical Engineering, Industrial University of Ho Chi Minh City, Ho Chi Minh City 71408, VietnamThis research focuses on the development of a new 3-DOF (Degree of Freedom) force feedback system featuring a spherical arm mechanism and three magnetorheological (MR) brakes, namely two rotary MR brakes and one linear MR brake. The first rotary MR brake is integrated in the waist joint to reflect the horizontal tangent force, the other rotary MR brake is integrated in the shoulder joint to reflect the elevation tangent force, while the linear MR brake is integrated in the sliding joint of the arm to reflect the radial force (approach force). The proposed configuration can reflect a desired force to the operator at the end-effectors of the arm independently in 3 DOFs by controlling the current applied to the coils of the MR brakes. After the introduction, the configuration of the proposed force feedback system is presented. Afterward, the design and conducted simulation of the MR brakes for the systems are provided. The prototype of the force feedback system, which was manufactured for the experiment, is then presented as well as some of the obtained experimental results. Finally, the proposed control system is presented and its implementation to provide a desired feedback force to the operator is provided.https://www.mdpi.com/2076-0825/9/1/19mr fluidspherical manipulatorforce feedback systemrotary mr brakelinear mr brake |
| spellingShingle | Bao Tri Diep Ngoc Diep Nguyen Thanh T. Tran Quoc Hung Nguyen Design and Experimental Validation of a 3-DOF Force Feedback System Featuring Spherical Manipulator and Magnetorheological Actuators Actuators mr fluid spherical manipulator force feedback system rotary mr brake linear mr brake |
| title | Design and Experimental Validation of a 3-DOF Force Feedback System Featuring Spherical Manipulator and Magnetorheological Actuators |
| title_full | Design and Experimental Validation of a 3-DOF Force Feedback System Featuring Spherical Manipulator and Magnetorheological Actuators |
| title_fullStr | Design and Experimental Validation of a 3-DOF Force Feedback System Featuring Spherical Manipulator and Magnetorheological Actuators |
| title_full_unstemmed | Design and Experimental Validation of a 3-DOF Force Feedback System Featuring Spherical Manipulator and Magnetorheological Actuators |
| title_short | Design and Experimental Validation of a 3-DOF Force Feedback System Featuring Spherical Manipulator and Magnetorheological Actuators |
| title_sort | design and experimental validation of a 3 dof force feedback system featuring spherical manipulator and magnetorheological actuators |
| topic | mr fluid spherical manipulator force feedback system rotary mr brake linear mr brake |
| url | https://www.mdpi.com/2076-0825/9/1/19 |
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