力反馈数据手套的角度测量  

Angle measurement of force feedback dataglove

作　　者：孙中圣[1] 包钢[1] 李军[1] 王祖温[1] 

机构地区：[1]哈尔滨工业大学气动技术中心,哈尔滨150001

出　　处：《哈尔滨工业大学学报》2008年第1期69-72,共4页Journal of Harbin Institute of Technology

基　　金：国家自然科学基金资助项目(50375034)

摘　　要：为解决力反馈数据手套手指弯曲角度测量精度低的问题,研制一种面向虚拟制造和装配,以气动人工肌肉作为驱动器的力反馈式数据手套.介绍力反馈数据手套的整体结构,基于平面四连杆运动的确定性原理,建立手指关节弯曲角度的测量模型.采用非接触测量物体位置的方法进行角度测量.介绍磁阻传感器的测量原理及误差校正方法.以食指PIP关节为例测量关节的弯曲角度,实验结果表明,测量精度为1.6%,满足数据手套的应用要求.本研究为建立人工肌肉驱动模型,使力反馈数据手套真正应用到虚拟制造及装配打下了理论基础.Aiming at the low accuracy of angle measurement of finger flexion, a new force feedback dataglove orientated to virtual manufacture and assembly is developed, using the pneumatic artificial muscles as actuators. The whole structure of dataglove is presented. Based on the theory of motion stabilization of four-bar linkage, we established the measurement model of flexion angles for finger joints. The method of non-contact position measurement was adopted for angle measurement. The measurement theory and error correction method of the magnetoresistive sensor were introduced. The flexion angle of PIP joint of the index finger was measured as an example. Experimental results indicate that the measurement accuracy is 1.6% and meets the demand for dataglove, which provides the theoretical basis for the application of force feedback dataglove in virtual manufacture and assembly.

关 键 词：数据手套 磁阻传感器 力反馈 气动人工肌肉 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TP274[自动化与计算机技术—控制科学与工程]