基于三自由度并联机构的触觉接口的研究与优化

发布时间：2018-03-03 21:24

本文选题：触觉接口　切入点：虚拟样机　出处：《湖北工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着科技的发展,虚拟现实在人们的生活中扮演着越来越重要的角色。通过模拟器可以模拟飞行,提高飞行员的操纵水平;模拟器也可以让人置身游戏环境中,给人们带来更加真实的体验,丰富人们的生活。虚拟现实需要通过触觉接口这类介质连接虚拟场景与现实,本文设计了三自由度并联机构用于模拟人的力输入。论文的主要研究内容如下:1.对并联机构进行了运动学分析,通过指数坐标建立了并联机构的位置正解,并通过求导得出并联机构的雅克比矩阵。基于雅克比矩阵研究了并联机构的奇异位形,发现在三种情况下机构会处于奇异点。最后建立了机构的虚拟样机,通过ADAMS验证了机构的运动学。2.基于并联机构原理设计了机械结构,在结构设计过程中考虑了机械的质量静平衡。然后在ADAMS中建立虚拟样机,在不影响仿真结果的情况下对样机做了简化,利于仿真。在机械末端施加了三维力,经过动力学仿真后分析了末端的运动情况,并分析了编码器的受力和受力矩情况。最后,根据关节力的仿真结果选择并校核了轴承。3.为了使得机构处于良好的运动状态,通过遗传算法对机构的尺寸进行优化。机构处于各向同性时,机构在工作空间内可以获得良好的运动性能。通过对机构的条件数进行优化,使得机构处于各向同性。
[Abstract]:With the development of science and technology, virtual reality plays a more and more important role in people's life. The simulator can simulate the flight, the pilot to improve the operational level; the simulator can also let a person in the game environment, brings people more real experience, enrich people's lives. Virtual reality and reality through the need to connect the virtual scene tactile interface this kind of media, this paper designed three DOF parallel mechanism for simulating the force input. The main contents of this thesis are as follows: 1. the parallel mechanism kinematics is analyzed, the index of positive solutions of the parallel mechanism coordinate position is established, and obtained by the derivation of Jacobian matrix of parallel mechanism based on Jacobian matrix is studied. The singularity of the parallel mechanism, found the mechanism in the three cases in the singular points. Finally, the virtual prototype of the establishment of the institutions, the verification by ADAMS The kinematics of.2. parallel mechanism based on the principle of the mechanism design of the mechanical structure, the mechanical quality of the static balance in the structural design process. Then the virtual prototype is established in ADAMS, without affecting the simulation results under the condition of the prototype was made to simplify the simulation. In the end, the mechanical applied three-dimensional force, through dynamics simulation analysis the movement of the end, and analyzes the force and torque of the encoder. Finally, according to the simulation results of joint force selection and check bearing.3. in order to make the mechanism is in a good state of motion, is optimized by genetic algorithm to size institutions. Institutions are isotropic, institutions can obtain good motion performance. In the working space. Through optimizing the mechanism condition number, the mechanism is isotropic.

【学位授予单位】：湖北工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.9;TH112

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