1) Prepare the MREs with properties desired by haptic applications; study the material and ratio of the components of such kind of MREs; design the additional magnetic structure applied during the preparation.

2) Derive the resistance characteristics of MREs; measure the resistance under laboratory conditions and compare the results with the theoretical ones.

3) Derive the formulae of the distribution of magnetic fields generated by single solenoid; compare the results with stimulation results and data measured under laboratory conditions.

4) Design tactile sensor and actuator models by using the special properties of MREs; use results of stimulation and calculations to verify the feasibility of the models; make concrete models of the designs.

Finally, summarize the work of this paper and propose recommendation for further reseach.

Keywords: magnetorheological elastomer  tactile sensing and feedback technology  assessment of resistance characteristics  experimental preparation  structure optimization

1 引言 1

1.1 研究背景 1

1.2 国内外研究现状 3

1.3 研究意义及研究综述 4

1.4 论文结构及工作时间安排 4

2 触觉技术简述 6

2.1 触觉传感及触觉反馈技术 6

2.2 一种采用MRF的小型磁流变传感作动器简介 8

2.3 一种采用MRE的小型磁流变作动器简介 11

2.4 本设计中亟待解决的问题 13

3 用于触觉技术的MRE材料制备 15

3.1 各组分材料选择 15

3.1.1 导磁材料 15

3.1.2 弹性基体 16

3.1.3 添加剂 17

3.2 各向异性MRE制备磁路设计 18

3.2.1 线圈加磁磁路分析 19

3.2.2 永磁体加磁磁路分析 21

3.2.3 加磁方案选择及总结 23

3.3 制备实验过程 24

4 MRE阻值特性研究 27

4.1 MRE电阻理论模型推导 27

4.1.1 隧道效应及隧道电流理论 27

4.1.2 代表单元体模型建立 28