一种提高基于线绳的力反馈设备显示阻抗范围的方法  

A Method for Increasing Impedance Range of String-based Force Feedback Device

作　　者：林理平[1] 吴平东[1] 黄杰[1] 李建[1] 

机构地区：[1]北京理工大学机械与车辆工程学院,北京100081

出　　处：《机器人》2010年第5期630-634,641,共6页Robot

基　　金：国家自然科学基金资助项目(60674052)

摘　　要：提出一种通过动态调整线绳预紧力提高基于线绳的力反馈设备显示阻抗范围的方法.介绍了基于线绳的力反馈设备的基本结构,从能量耗散的角度分析了线绳张力对设备显示高刚度虚拟物体时稳定性的影响,并分析线绳预紧力与力觉交互透明性之间的关系.为同时满足稳定性和透明性的要求,根据设备操作末端与虚拟物体的接触状态,对线绳的预紧力进行动态调整.实验结果表明,该方法能够在保持设备透明性的同时,有效提高其稳定性,从而提高设备显示的阻抗范围.A method for increasing impedance range of string-based force feedback device by adjusting the pretighting force dynamically is proposed. The basic structure of string-based force feedback device is presented, and an energy-dissipation-based approach is used to analyze the influence of string tension on the stability of haptic display when rendering high-stiffness virtual objects. And the relationship between string pretightening force and force interaction transparency is analyzed. In order to meet the requirements of stability and transparency simultaneously, string pretighting force is adjusted dynamically according to the contact state between the end-effector and virtual objects. Experimental results show that this method can tradeoff stability and transparency, thereby enlarge the achievable impedance range.

关 键 词：力反馈 虚拟现实 稳定性 透明性 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]