2自由度触觉交互装置驱动性能分析  

ANALYSIS OF THE DRIVING CAPABILITY FOR 2-DOF CLOSED CHAIN HAPTIC DEVICE

作　　者：郭卫东[1] 国欣[1] 张玉茹[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100083

出　　处：《机械工程学报》2005年第8期75-78,共4页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(50275003)。

摘　　要：触觉交互装置的驱动性能是衡量触觉交互装置设计成败的重要指标,也是触觉交互装置设计的主要依据。以自行设计的2自由度闭环触觉交互装置为对象,对触觉交互装置驱动性能进行了研究,提出了评价触觉交互装置正向和反向驱动性能的方法。在对机构进行静力学和动力学分析的基础上,给出了衡量驱动性能的具体指标。The driving capability is an important criterion to evaluate the performance of the haptic device. It is also a main issue that must be considered when the device is designed. A new 2-DOF closed chain mechanism is designed. The methods for analyzing forward and backward driving capability are presented on the basis of the static and dynamic analysis. Results are given to show the driving capability of the device.

关 键 词：机构 触觉机构 性能分析 驱动特性 

分 类 号：TH11[机械工程—机械设计及理论]