完全重力平衡下的力感主手手腕结构改进  

Improve the Wrist Structure of the Haptic Master under Gravity Balance

作　　者：许炜泽 赵臣[1] 范荣芳[1] 薛雯[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《机械科学与技术》2017年第2期196-201,共6页Mechanical Science and Technology for Aerospace Engineering

摘　　要：力感主手的手腕对主手的动态性能影响很大。为提高主手的动态性能,在通用型力感主手的基础上,采用将捏持点从手腕腕心移出的方法对主手手腕结构进行改进。确定由于捏持点与手腕腕心不重合而产生的额外力矩不会对人的力感觉产生干扰的最大移出距离。在力感主手处于完全重力平衡的条件下,根据人机工程学提出手腕结构的改进方案,降低手腕质量,并提高了手腕结构的刚度,使主手末端的惯性力降低了57%,显著提升了主手的动态性能。The wrist structure greatly affects the dynamic performance of the haptic master. In order to improve the dynamic performance of the device, we remove the thumb point from the wrist center to improve the wrist structure based on the universal haptic master developed by lab associates. Under the premise of not changing the force information of the end effecter, the maximum removed distance is determined in the condition of not disturbing the sense of the operator caused by additional moment. In the full gravity balance for the haptic master, the wrist structure is improved based on the ergonomics. The mass of the wrist is decreased while the stiffness of the wrist is increased. And the inertia of the haptic master is reduced by 57% which effectively improves the dynamic performance of the haptic master.

关 键 词：力感主手 重力平衡 手腕 结构改进 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]