一种新型六自由度通用型手控器  

A New 6-DOF Universal Hand Controller

作　　者：崔建伟[1] 宋爱国[1] 黄惟一[1] 王一清[1] 

机构地区：[1]东南大学,南京210096

出　　处：《中国机械工程》2005年第4期320-323,共4页China Mechanical Engineering

基　　金：国家 863 高技术研究发展计划资助项目(2001AA423140)

摘　　要：提出了一种新型的六自由度通用异构式手控器。由平行四连杆机构组成的两级三自由度平台构成了这种新型手控器的3个平动自由度,它的 8 个二自由度关节是由十字形轴构成的万向机构,每个关节的运动范围可达±60°。由两个 U形构件组成手腕的两个转动自由度,它们的运动范围与人的手腕运动范围相适应,在这个机构的工作空间内没有奇点,具有平动和转动解耦的特性,最后一个自由度是手控器手指关节的运动。采用直流力矩电机作驱动装置以产生力觉反馈。A new 6-DOF universal heterogeneous hand controller was proposed. Two parallelogram linkages composed two platforms which were divided into two classes and with three motion DOF. Each of its 8 joints with 2-DOF was an universal coupling with '+' shape and their motion range is over ±60 degree. 'U' form components constructed two rotatory DOF that their rotary range was adaptive to human whist. The structure has the decoupling characteristics of moving and rotation, but has no singular point in its workspace. The final DOF is the finger motion of the hand controller.DC moment motors were used to be as driving devices and to feed back the forces to the operator.

关 键 词：手控器 遥操作 虚拟现实 力触觉反馈 力觉临场感 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]