Development of a 3D haptic spherical master manipulator based on MRF actuators

摘要

This research focuses on development of 3-DOF haptic master manipulator featuring Magneto-rheological brakes (MRBs) and a mechanism of spherical manipulator. The haptic manipulator is composed of a spherical manipulating mechanism integrated with 3 MR brakes. The first MRB is a rotary disc-type MRB employed at the waist joint to feedback the tangent force in the horizontal plane, the second MRB is also a rotary disc-type MRB employed at the shoulder joint to feedback the tangent force in the elevation plane, and the third MRB is a linear MRB employed at the prismatic joint to feedback the normal force (approach force). Position of the manipulator's end-effector is measured by two rotary encoders and an LVDT. After the introduction, a configuration and working principle of the 3-DOF haptic spherical manipulator are presented. Mathematical models of the manipulator are then derived. The MRBs are then optimally designed to provide a required force feedback to the operator. A prototype haptic manipulator is then manufactured and its performance characteristics are then experimentally investigated.