摘要科学技术日新月异的今天，传统技术发展呈现出多元化、智能化等趋势。触觉传感及反馈技术是指通过触觉信号的感应识别，对外界使用者进行逼真的触觉反馈。由于触觉在人体对外界感知的过程中扮演了重要的角色，因此触觉传感技术具有其他感应技术及传感器无法代替的优势，从而广泛应用于医疗和军事等特殊领域。磁流变材料是一种新兴的智能复合材料，基于其磁流变原理而作为核心传感及作动元件的触觉装置的研究，是近年来国内外研究学者共同关注的热点课题。目前，触觉传感作动装置的小型化、具备触觉技术所需特殊性能的磁流变材料的制备研究、作动器感应复杂信号的准确度和灵敏度仍为该领域当前亟待解决的问题。63554

过去的十余年间，国内外的研究学者在磁流变触觉传感作动装置的设计研究方面做出了大量的工作，并且取得了较为显著的成果。在此基础上，需要进行以下几个方面的工作：

1） 制备具备触觉传感作动器所要求的性能的磁流变弹性体，讨论材料及各组分配比选择，分析设计制备过程中所使用的加磁结构；

2） 建立磁流变弹性体力学及电磁学单元体模型，推导磁流变弹性体力学及阻值特性，实验测量各类特性并与计算结果进行对比；

3） 推导通电螺线管空间磁场分布的精确计算公式，对螺线管磁场进行仿真，对比公式计算、仿真分析以及实验测量结果并总结在设计传感器过程中如何合理利用公式选择结构参数；

4） 利用制备所得的MRE特殊性能设计触觉传感作动器模型，对其进行仿真分析和计算以验证可行性，进行实物模型的初步制作。

最后，对设计中所做工作进行了总结，提出对下一步深入研究的展望和建议。

毕业论文关键词：磁流变弹性体 触觉传感反馈技术 实验室制备 阻值特性测试 结构优化设计 

 毕业设计说明书（论文）外文摘要

Title    Design and Analysis of Tactile Sensing and Actuating   Device Based on Magnetorheological Elastomer  Technology                                      Abstract Nowadays, with the rapid development of science and technology, traditional technology has been showing a new trend of high persification and intelligence. Haptic technology is a kind of technology stimulating the realistic tactile feedback to the users by sensing and recognizing the tactile signals. Since the important role played by tactile when human beings getting the perception of the outside world, the position of tactile sensing technology, which is widely used in some special fields like medical and military, cannot be replaced by any other kind of sensing technology or sensors. Magnetorheological material is a new kind of composite material and smart material. Based on the matnetorheological principle, the research of haptic device using such material as the central element of sensing and actuating is one of the hot topics which attract the common concern from research scholars home and abroad. Currently, the miniaturization of tactile device, the preparation and research of megnetorhological materials, the improvement of the accuracy and sensitivity of the actuators when inducing complex haptic signals are in desperate need.

During the past decade, research scholars have driven away at the design and study of magnetorheological tactile sendsing actuation device and considerable achievements have been accomplished. Based on the research work and achievements, work of the following aspects deserves to be solved: