20.500.12556/DKUM-88148 Razvoj sferičnega magnetoreološkega aktuatorja za haptične aplikacije doktorska disertacija Development of a spherical magnetorheological actuator for haptic applications V doktorski nalogi je obravnavana problematika razvoja sferičnega aktuatorja, ki za svoje delovanje izrablja magnetoreološki pojav magnetne tekočine. Gre za močno povišanje viskoznosti pod vplivom magnetnega polja. Predvidena končna uporaba aktuatorja je v haptičnih aplikacijah. Aktuator je sestavljen kot krogelni sklep statorja z votlino in sferičnega rotorja, na katerega je pritrjena krmilna palica. V stator je vgrajena tuljava za vzbujanje magnetnega polja. Razvoj aktuatorja je potekal v več korakih. Prvi je bil sestava osnovnega tridimenzionalnega modela aktuatorja s parametriziranimi dimenzijami glede na določene mehanske in magnetne zahteve. Določeni so bili štirje prosti parametri (s postavljenimi spodnjimi in zgornjimi mejami). Njihove vrednosti so bile poiskane v drugem koraku razvoja. To je bila optimizacija geometrije modela. Za ta namen je bila formirana ciljna funkcija, z minimizacijo katere so bile poiskane vrednosti prostih parametrov. Ciljna funkcija je bila postavljena tako, da je bila iskana rešitev, ki zagotavlja maksimalen navor ob čim manjših dimenzijah aktuatorja in ustreznih magnetnih razmerah, na ključnih mestih v aktuatorju. Za optimizacijo je bil uporabljen algoritem diferenčne evolucije. Sestava modelov in optimizacija sta bila izvedena s kombinacijo programskih orodij Simulia Opera in Matlab. V tretjem koraku je bila na podlagi rezultatov optimizacije opravljena numerična analiza optimiziranega modela. Pri tem je bila izračunana odvisnost zavornega navora aktuatorja v odvisnosti od toka skozi tuljavo. Četrti korak je bil prilagoditev tridimenzionalnega modela možnostim fizične izvedbe aktuatorja. Osnova za prilagojen model je bil predhodno izračunan optimiziran model. Na prilagojenem modelu je bila izvedena numerična analiza za določitev odvisnosti zavornega navora od toka skozi tuljavo. Na podlagi prilagojenega modela je bil v petem koraku izdelan fizični prototip. V zadnjem koraku so bile nad prototipom izvedene meritve odvisnosti navora od toka skozi tuljavo aktuatorja. Rezultati meritev so bili primerjani z rezultati numeričnih analiz na prilagojenem modelu. The doctoral thesis deals with the development of a spherical actuator that uses the magnetorheological effect of a magnetic fluid for its operation. This involves a substantial increase in viscosity under a magnetic field's influence. The intended end use of the actuator is in haptic applications. The actuator is built as a ball joint of a stator with a cavity and a spherical rotor to which a control stick is attached. A coil for the excitation of the magnetic field is included in the stator. The development of the actuator consisted of several steps. The first step was to build a basic three-dimensional actuator model with parameterized dimensions according to specific mechanical and magnetic requirements. Four free parameters were determined (with lower and upper bounds). Their values were sought in the second step of development, in which the model geometry was optimized. For this purpose, an objective function was constructed. The values of the free parameters were found by the minimization of the objective function. The objective function was constructed to seek a solution that ensures maximum torque with the smallest possible dimensions of the actuator and appropriate magnetic conditions at critical points in the actuator. A differential evolution algorithm was used for optimization. Simulia Opera and Matlab software were used for model building and optimization processes. Based on the optimization results, a numerical analysis of the obtained model was performed in the third step. The dependency of the brake torque of the actuator on the current through the coil was calculated. The fourth step was to adapt the three-dimensional model for the possibility of the physical construction of the actuator. The basis for the adapted model was the previously calculated optimized model. A numerical analysis was carried out on the adapted model to determine the dependency of the braking torque on the current through the coil. Based on the adapted model, a physical prototype was built in the fifth step. In the last step, measurements of the dependency of the torque on the current through the actuator coil were performed on the prototype. The results of the measurements were compared with the results of the numerical analysis of the adapted model. Magnetoreološka tekočina sferični aktuator haptični vmesnik metoda končnih elementov (MKE) krmilna palica diferenčna evolucija (DE) Magnetorheological Fluid Spherical Actuator Haptic Interface Finite Element Method (FEM) Joystick Differential Evolution (DE) true true false [J. Vizjak] Slovenski jezik Angleški jezik Doktorsko delo/naloga 2024-04-10 08:29:36 2024-10-01 08:29:05 2024-10-03 03:11:04 0000-00-00 00:00:00 2024 0 Maribor 0 Maribor XVI, 97 str. 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 519.6:537.6(043.3) 209826051 DOK_Vizjak_Jakob_2024.pdf DOK_Vizjak_Jakob_2024.pdf 1 9F806001886B8F5F7E55E79BF253BB2A 60022bfdffc589d204627fe0d1651fcb73f11235f5d330a24a9e81279534dd12 d588e11b-7404-11ef-839f-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=185190 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0