In order to solve such problems as big volume,poor safety and stability as well as inability to impose force on manipulator actively in haptic interaction devices singly driven by active or passive actuators in a virtual reality system,a haptic interaction device cooperatively driven by active/passive hybrid actuator was proposed.Through analyzing the structure,realization principle and performance of a passive rheological motor,the design method for the haptic interaction device based on the passive rheological motor/active motor was studied.The device has such structural characteristic that the output force is generated through the cooperative driving of both active motor and passive rheological motor.The control method of haptic interaction device based on the hybrid actuator was proposed.In addition,a haptic interaction platform was established and some experimental research was performed.The results verify that the haptic interaction device based on active/passive hybrid actuator not only overcomes the disadvantages of the haptic interaction device based on single active or passive actuators,but also has such advantages as high fidelity and big controllable range of output force.%针对虚拟现实系统中由有源或无源执行器单独驱动的力觉交互装置存在体积大、安全稳定性差和无法主动给操作者施加力等问题,提出了一种由有/无源混合执行器共同驱动的力觉交互装置.在分析无源流变电机结构、实现原理和性能的基础上,研究了基于无源流变电机/有源电机力觉交互装置的设计方法,其结构特点是输出力在有源电机和无源流变电机的共同驱动下产生.提出了基于混合执行器的力觉交互装置控制方法,构建了力觉交互平台并进行了实验研究.实验结果表明,基于有/无源混合执行器的力觉交互装置,不仅克服了基于有源或无源执行器力觉交互装置的缺点,还具有高保真性和输出力可控制范围大等优点.
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