力触觉建模及再现技术研究  

Haptic Model Theory and Rendering Technology

作　　者：秦伟[1] 杭鲁滨[1] 黄晓波[1] 付志宇[1] 陆九如[1] QIN Wei HANG Lubin HUANG Xiaobo FU Zhiyu LU Jiuru(School of Mechanical Engineering,Shanghai University of Engineering Science, Shanghai 201620, China)

机构地区：[1]上海工程技术大学机械工程学院,上海201620

出　　处：《轻工机械》2017年第2期48-52,共5页Light Industry Machinery

基　　金：国家自然科学基金资助项目(NFS51475050);上海市科学技术委员会重点支撑项目(12510501100);上海工程技术大学技术设备研发课题<并联机器人力触觉装置研究>(J(15)JX-008)

摘　　要：力触觉再现关键技术之一是物理模型和碰撞检测算法的构建。以7自由度力触觉设备为基本构架,介绍了力触觉设备的反馈机理和电气组成;分析比较了力触觉建模的特点,研究弹簧-质点模型,给出了弹簧-质点模型的面模型和体模型的具体表现形式;分析了力触觉再现碰撞检测算法的优劣,实现了AABB包围盒的遍历算法。最后在Chai 3D环境构建一个操作手与虚拟柱体的力触觉交互反馈模型,分析了在3种交互情况下的反馈力情况。本文可为力触觉再现技术的深入研究提供理论参考。Physical model and collision detection algorithm are the key to the haptic rendering. The 7 dof haptic device was taken as example to introduce the feedback mechanism and electrical structure of haptic device. The haptic modeling method was analyzed and compared. The spring-mass model was introduced, and the plane structure model and solid model of spring-mass model was given. The advantages and disadvantages of the haptic rendering were analyzed, and the traversal algorithm of AABB method was proposed. The haptic interaction model of operation tool and virtual cylinder was set up in Chai 3D. The force feedback situation was analyzed to provide the theoretical basis for the research of haptic rendering.

关 键 词：力触觉再现 力反馈 弹簧-质点模型 碰撞检测 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]