BİLEĞE TAKILAN DOKUNSAL CİHAZ İÇİN SES BOBİNİ AKTÜATÖRÜNÜN MATEMATİKSEL MODELLEMESİ VE FEM TABANLI TASARIM AYARLANMASI

Abstract

Ses bobini (voice-coil) aktüatörleri, kompakt yapıları, çift yönlü kontrol edilebilirlikleri ve düzgün kuvvet üretimleri sayesinde dokunsal (haptik) arayüzlerde yaygın olarak kullanılmaktadır. Ancak performansları, elektromanyetik yapılandırmaya ve etkin alan içerisindeki manyetik akı yoğunluğuna güçlü biçimde bağlıdır. Önceki çalışmalarda mekanik tasarım genellikle kapsamlı analizlerden ziyade deneysel gözlemlere dayandırılmıştır. Bu çalışma, CoWrHap adı verilen bileğe takılabilir bir haptik cihaz için özel olarak üretilmiş bir ses bobini aktüatörünün matematiksel modellenmesi ve performans iyileştirme çerçevesini sunmaktadır. Öncelikle, giriş akımı, manyetik akı yoğunluğu ve çıkış kuvveti arasındaki ilişkiyi tanımlayan analitik bir model geliştirilmiştir. Model parametreleri deneysel verilerden elde edilerek etkin manyetik bağlaşım katsayısı ve sürücü devresinin akım doyum sınırları belirlenmiştir. Manyetik akının konuma bağlı uzamsal değişimlerini yakalayabilmek ve alternatif tasarımları değerlendirebilmek amacıyla, ölçülen geometrik ve malzeme özellikleri kullanılarak üç boyutlu bir sonlu elemanlar (FEM) analizi gerçekleştirilmiştir. FEM analizleri, aktüatör ekseni boyunca akı dağılımının düzgün olmadığını göstermiş ve bu doğrultuda yapılan topoloji değişiklikleri sonucunda CoWrHap-2 adlı yeni bir prototip tasarımı elde edilmiştir. Analitik ve sayısal yaklaşımların birleşimi, kuvvet çıktısının doğrusallık ve verimlilik açısından öngörülmesini ve iyileştirilmesini sağlamış; çalışmanın sonuçları, yüksek performanslı bir ses bobini tabanlı haptik cihaz geliştirme potansiyelini ortaya koymuştur.

Keywords

• Haptik cihazlar
• ses bobini aktüatörleri
• elektromanyetik alan

Supporting Institution

TUBITAK 2232-B programı

Project Number

121C147

Ethical Statement

Yapılan çalışmada araştırma ve yayın etiğine uyulmuştur.

MATHEMATICAL MODELING AND FEM-DRIVEN DESIGN TUNING OF A VOICE-COIL ACTUATOR FOR A WRIST-WORN HAPTIC DEVICE

Abstract

Voice-coil actuators are widely used in haptic interfaces due to their compact design, bidirectional controllability, and ability to generate smooth forces. However, their performance strongly depends on the electromagnetic configuration and magnetic flux within the actuation, even though the mechanical design of a prior work was heavily based on experimental observations rather than comprehensive analyses. This study presents a mathematical modeling and enhancement framework for a custom-made voice-coil actuator for a wrist-worn haptic device, named CoWrHap. This paper first presents an analytical model to describe the relationship between input current, magnetic flux density, and output force. The model parameters are identified from experimental data, revealing the effective magnetic coupling coefficient and the current saturation limits of the driver circuit. To capture spatial variations of the magnetic flux and evaluate design alternatives, a three-dimensional finite element method (FEM) simulation is performed using the measured geometric and material properties. The FEM analyses reveal a nonuniform flux distribution along the actuator axis, guiding topology modifications that result in a new prototype design, named CoWrHap-2. The combined analytical and numerical approach enables the prediction and improvement of force output in terms of linearity and efficiency. The results of this study highlight the potential for a high-performance voice-coil haptic device.

Keywords

• haptic devices
• voice-cail actuation
• electromagnetic field

Supporting Institution

TUBITAK 2232-B program

Project Number

121C147

Ethical Statement

This study complies with the ethical rules of research and publication.

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