Performance evaluation of a 3D haptic joystick featuring two bidirectional MR actuators and a linear MRB

Abstract

Abstract In this paper, a 3D force feedback system featuring a 2D-gimbal mechanism incorporated with two bidirectional magneto-rheological actuators (BMRAs) and a linear magnetorheological brake (LMRB) is designed, manufactured and experimentally tested. Firstly, a configuration of the 3D force feedback system is introduced, and then the BMRAs and the LMRB for force feedback are proposed and experimentally evaluated. Based on experimental results, experiment-based models of the BMRAs and LMRB are identified. A controller is then proposed for the 3D force feedback system. In order to evaluate performance of the proposed 3D force feedback system, a prototype of the proposed force feedback system is manufactured and experimental apparatus for force feedback testing is set up. Experimental works on performance testing of the force feedback system is then conducted and the results are presented and evaluated.