三维鼠标系统设计及性能分析

发布时间：2018-07-06 10:42

本文选题：三维鼠标 + Delta机构　；参考：《山东理工大学》2013年硕士论文

【摘要】：随着虚拟现实技术的发展,三维鼠标的应用将更加广泛,本文对基于Delta机构的三维鼠标设计理论进行了详细研究,完成了以下工作： (1)本文通过螺旋理论对Delta机构做了自由度分析,避免了自由度计算中因过约束的存在Kutzbach-Gruble公式计算不准确的问题,同时应用螺旋理论对确定自由度的类型也避免了李代数和群论的复杂,简易准确,具有广泛的推广意义。 (2)应用解析法中矢量代数法与消元法相结合的方法对Delta机构运动学反解进行分析,用解析法中的矩阵法对Delta机构运动学正解进行分析,有效的避开了解析法数学推导复杂的缺点,简单而快速。 (3)根据并联机构的运动特点,推导出三自由度Delta并联机构的Jacobian矩阵。之后对其速度和加速度进行了分析,最后做了Adams仿真。通过速度和加速度对应的曲线关系,体现出输入对输出的影响。在对Delta机构反解推导的基础上,对机构的工作空间进行了分析,给出了Matlab仿真实例。 (4)对Delta并联机构的奇异性、灵巧度、条件数、各向同性等问题进行了分析,为三维鼠标的结构设计提供了理论基础。 (5)在对三维鼠标机械本体Delta机构进行理论分析之后,设计了三维鼠标的结构模型,选用旋转电位器作为传感元件,利用其角度值与电压值唯一对应且无需判断旋转方向的优点,使电路设计更加简单,成本低,鼠标分辨率高。本课题的研究成果能够应用于娱乐、机器人仿真、医学、工业等诸多领域,如三维操作系统的输入设备、各种游戏类、模拟类虚拟场景的三维控制、机器人主从控制系统、飞行器仿真、手术控制等。
[Abstract]:With the development of virtual reality technology, the application of 3D mouse will be more extensive. In this paper, the design theory of 3D mouse based on Delta mechanism is studied in detail. The following works have been accomplished: (1) in this paper, the degree of freedom of Delta mechanism is analyzed by spiral theory, which avoids the problem of inaccuracy of Kutzbach-Gruble formula in the calculation of freedom due to over-constraint. At the same time, the use of helical theory to determine the type of freedom also avoids the complexity of lie algebra and group theory, and is simple and accurate. (2) the inverse kinematics solution of Delta mechanism is analyzed by the combination of vector algebra method and elimination method in analytic method, and the forward kinematic solution of Delta mechanism is analyzed by matrix method in analytic method. It effectively avoids the complex shortcomings of analytical mathematical derivation, and is simple and fast. (3) according to the kinematic characteristics of parallel mechanism, the Jacobian matrix of 3-DOF Delta parallel mechanism is derived. Then the velocity and acceleration are analyzed, and finally Adams simulation is done. Through the curve relation between velocity and acceleration, the effect of input on output is shown. On the basis of deducing the inverse solution of Delta mechanism, the workspace of the mechanism is analyzed, and an example of Matlab simulation is given. (4) the singularity, dexterity, condition number and isotropy of Delta parallel mechanism are analyzed. It provides a theoretical basis for the structural design of 3D mouse. (5) after theoretical analysis of the 3D mouse mechanical Delta mechanism, the structural model of 3D mouse is designed, and the rotating potentiometer is selected as the sensing element. The advantages of unique correspondence between angle value and voltage value and no need to judge the rotation direction are used to make the circuit design simpler, lower cost and higher mouse resolution. The research results of this subject can be applied to many fields such as entertainment, robot simulation, medicine, industry and so on, such as the input equipment of 3D operating system, all kinds of games, the 3D control of virtual scene of analog class, the master-slave control system of robot, etc. Aircraft simulation, surgical control, etc.
【学位授予单位】：山东理工大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TP334.2

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