6-DOF双并联力觉交互系统设计及实验验证  

Design and Implementation of 6-DOF Double-parallel Haptic Device and System

作　　者：朱延河[1,2] 孟庆鑫 赵杰[2] 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001 [2]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150080

出　　处：《机械与电子》2008年第12期3-6,共4页Machinery & Electronics

基　　金：国家"八六三"计划资助项目(2006AA04Z245);哈尔滨市科技创新人才研究专项资金(2008RFQXG055;2007RFQSG046)

摘　　要：研制了一种新型双并联力觉接口,采用改进Delta并联机构与3-RRR球面并联机构具有运动学解耦特性,使该构型在保证运动空间的同时消除了运动奇异点.建立了力觉接口的控制系统,提出了带有速度前馈的PI自适应稳定交互算法,实现了对于理想力信号的快速跟踪及扰动抑制.通过跟踪长方体表面及虚拟销孔装配作业实验,验证了新型力觉接口及其力觉交互系统的性能.This paper presents a novel double parallel haptic interface. Thanks to the application of a compound architecture consisted of isolated Delta parallel and 3 -RRR spherical parallel sub- structures,workspace of haptic device expands and the possibility of singularity decreases dramatical- ly. Control system with speed- forward PI control- ler guarantee the fast tracking of desired force as well as the attenuation of disturbance. Experiments results from rectangle surface tracking and virtual peg-in- hole operation show the validity of the device and high performance of haptic system.

关 键 词：DELTA机构 3-RRR机构 力觉接口 虚拟销孔装配 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]