DESIGN AND OPTIMAL CALCULATION FOR THE 3D HAPTIC JOYSTICK USING MR BRAKES

Abstract

This research aims to create and assess the responsiveness of the 3D haptic system that uses three MRBs (Magneto-Rheological Brakes) through a gimbal mechanism. A 3D haptic joystick configuration is suggested after a review of relevant research on force feedback systems using MRF actuators. The gimbal mechanism combines the three MRBs used in this 3D haptic joystick configuration perpendicularly to create force feedback for each distinct rotational motion (X, Y, Z) of the suggested haptic system. Afterward, The Bingham plastic rheological model and the finite element method were used in the design and modeling of these MRBs for the 3D haptic joystick. Particle swarm optimization (PSO) method is employed to tackle the objective optimization problem for MRBs in order to decrease the mass as well as the manufacturing costs of the suggested MRBs. After having the optimal results, the 3D haptic joystick model was built and evaluated the feedback force. Subsequently, the research of force feedback in the field of remote control, which will be potentially applied to the Master-Slave system and popular in the future.