一种混联式力反馈手控器设计及运动学仿真  

Design of a Hybrid Force-Reflecting Hand Controller and Kinematic Simulation

作　　者：安宏雷[1] 韦庆[1] 韩大鹏[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院,湖南长沙410073

出　　处：《计算机仿真》2010年第1期174-176,221,共4页Computer Simulation

摘　　要：遥操作机器人力反馈手控器是遥操作系统中非常关键的部分。使用少自由度并联机构设计的混联式手控器具有串联机构和并联机构两者的优点,是手控器设计的热点方向。研制满足位置控制的大位移力反馈手控器时,平衡工作空间和机构刚度指标非常重要。基于Delta机构研制了6自由度混联式手控器,并在solidworks软件平台上对手控器机构进行了仿真实现。分析了手控器的运动学性能,在matlab环境中运行手控器工作空间的仿真算法,结果显示设计的手控器适合进行大位移力反馈的控制。The man-machine interface,namely the so called hand controller,is a key part of teleopration system.A hybrid method using low degree parallel mechanism,which is a hotspot in hand controller design,may have advantages of both the serial mechanism and parallel mechanism.It is very important to balance workspace and stiffness when building a large displacement force-reflecting hand controller（FRHC）.A 6-DOF hybrid hand controller based on Delta mechanism is developed.The design of hand controller is simulated on solidworks platform.Kinematic performance of the hand controller is analysed and an arithmetic of workspace simulation is developed in Matlab environment.The simulation result shows that this method is suited for a large displacement control.

关 键 词：遥操作 手控器 运动学 仿真 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]