线绳—框架式力反馈装置的设计与实现

发布时间：2018-04-17 13:45

本文选题：虚拟/增强现实 + 力反馈装置　；参考：《华中科技大学》2012年硕士论文

【摘要】：力觉反馈是构建虚拟/增强现实系统重要的感官信息交互方式，在遥距操作、医疗手术、康复训练、教育培训、信息可视化以及娱乐等诸多方面展现了广阔的应用前景。本文基于线绳-框架式结构，研究和设计了一套力反馈装置。该装置通过8根线绳并联驱动，能实现人与虚拟/增强现实环境的6自由度力觉交互。提出线绳-框架式力反馈装置的总体方案和结构，据此推导了已知8根线绳长度条件下求解末端执行器位姿的运动学公式，提出一种在已知末端作用力条件下线绳牵引力分配的规划方法。根据人手关节输出/承受力的作用的生物力学特点，对线绳长度、线绳牵引力的传感方法及元件，以及驱动单元类型进行计算和选型，设计了传感器、驱动单元布置方案，完成力反馈装置的机构和结构设计。确定力反馈控制系统的上位机-下位机硬件实现方案。基于ATmega64单片机，搭建嵌入式控制系统，完成位置/力信号读取、电机驱动、上下位机通信等外围电路设计。利用OpenGL图形库在上位机上搭建虚拟环境。采用虚拟墙实验，验证了该力反馈装置在接触-碰撞过程中能实现真实的力觉感知。
[Abstract]:Force feedback is an important way to construct virtual / augmented reality system. It has a wide application prospect in remote operation, medical surgery, rehabilitation training, education and training, information visualization and entertainment.Based on the wire rope-frame structure, a force feedback device is studied and designed in this paper.The device is driven in parallel by 8 wire ropes, which can realize the 6 DOF force interaction between human and virtual / augmented reality environment.The overall scheme and structure of the wire-frame force feedback device are presented, and the kinematics formula for the position and orientation of the end actuator under the condition of the known length of 8 wire ropes is derived.In this paper, a planning method of rope traction distribution under the condition of known end force is presented.According to the biomechanical characteristics of the output / bearing action of the human hand joint, the sensing methods and components of the rope length, the traction force of the rope and the type of the driving unit are calculated and selected, and the sensor and the driving unit layout scheme are designed.Complete the mechanism and structure design of the force feedback device.The hardware implementation scheme of the upper computer-lower computer of the force feedback control system is determined.Based on ATmega64 MCU, an embedded control system is built to complete the peripheral circuit design, such as position / force signal reading, motor driving, communication between upper and lower computer and so on.Use OpenGL graphics library to build virtual environment on upper computer.Virtual wall experiment is used to verify that the force feedback device can realize real force perception in the process of contact-impact.
【学位授予单位】：华中科技大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH122

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