三自由度平动手控器重力补偿研究  

Research on Gravity Compensation of 3-DOF Translation Hand Controller

作　　者：刘世平[1] 余昆[1] 李世其[1] 王博[1] 宋樊[1] 

机构地区：[1]华中科技大学机械学院,湖北武汉430074

出　　处：《机械制造与自动化》2015年第2期155-158,171,共5页Machine Building & Automation

摘　　要：设计、加工三自由度平动手控器,通过静力学计算以及ADAMS仿真分析,求解出任意位置平衡手控器运动部件重力所需的电动机驱动力矩,并将计算结果应用于手控器的操作过程中。试验表明,重力补偿能有效地消除手控器运动部件重力对操作者的影响,减轻疲劳感,提高了机构的可操作性与操作效率。To design and manufacture 3-DOF translation hand controller, through static calculation and ADAMS simulation analysis, this paper finds out the driving torque of every electric motor,which is used to balance the self-gravity of hand controller in any posi- tion and applies the computed result to its operating process. The experiment proves that the gravity compensation can effectively e- liminate the influence of the gravity of the hand controller on the operatons and their operating fatigue, thus improving its operation and efficiency.

关 键 词：手控器 重力补偿 静力学分析 

分 类 号：TH113[机械工程—机械设计及理论]