基于工业应用的六自由度力反馈器的机构研究与应用研究

发布时间：2018-09-15 06:05

【摘要】：VR技术中力反馈的加入,提高了原来单纯依赖视觉和听觉再现设备的人机交互的效果,使人与虚拟世界的交互更真实,更可靠,近年来受到广泛的关注。作为人机力觉交互实现的关键,力反馈设备的性能直接决定了其实现的效果。它能够尽可能真实地再现虚拟环境中的质量、惯量和硬度等信息,但其发展仍比较滞后,接下来的研究重点是如何提高力反馈设备的实用性,改善机构机型,扩大应用领域,以期获得更大的发展。本文首先介绍了力反馈设备的起源、国内外研究现状和应用领域,对力反馈器的工作原理进行了阐述。针对现有的力反馈器的机构类型,总结出其各自存在的优势和不足之处,并指出未来混联式力反馈器将是一个新的发展方向。简要阐述了人机工程的含义、研究重点,并深入分析了人机工程学在力反馈器设计中的应用,设计中要充分结合人机工程学,才能设计出符合“人”需要的产品。根据机器人学的相关知识,建立了力反馈器的机械结构与其工作空间的运动学方程和力的传递关系。以人机工程学为指导,以力觉交互技术在工业中的具体应用为铺垫,提出了力反馈器的设计要求,并根据以往力反馈器的设计资料确定了设计指标,确定出面向工业应用的力反馈器的机构形式并简要概述了其功能。接下来具体讨论了机械传动方式,并进一步实现了在机械结构工程设计中的尺寸确定和选材,最终完成了一种六自由度的混联式机构形式的设计。该机构由上下两部分组成,两部分是串联连接,但各自又是并联机构,这样一来,则很好的避开了单独使用串并联机构带来的不利因素。结合力反馈技术的虚拟拆装技术以其特有的优势已越来越多的应用在产品开发和维修中。本文尝试将其应用在印刷机械领域,详细讨论分析了拆装过程中涉及到的关键技术,包括几何体的建模,虚拟场景的构建,拆装序列的规划和力反馈的实现等几方面,并通过实例完成了对力的绘制方法的验证。最后,在虚拟现实软件virtools中,遵循上述关键技术和虚拟拆装规划流程,结合力觉交互的关键接口工具PHANTOM力反馈器,实现了具体的印刷机递纸机构的拆装方案。
[Abstract]:With the addition of force feedback in VR technology, the effect of human-computer interaction which simply depends on visual and auditory reproduction devices is improved, and the interaction between human beings and virtual world is more real and reliable. In recent years, the interaction between human beings and virtual world has been paid more and more attention. As a key to the realization of human-machine force-sensing interaction, the performance of force feedback equipment directly determines the effect of its implementation. It can reproduce the information of mass, inertia and hardness in the virtual environment as truthfully as possible, but its development is still lagging behind. The next research focus is how to improve the practicability of the force feedback equipment, improve the mechanism model, and expand the application field. In order to obtain greater development. This paper first introduces the origin of force feedback equipment, research status and application field at home and abroad, and describes the working principle of force feedback device. In view of the existing force feedback mechanism types, the advantages and disadvantages of each mechanism are summarized, and it is pointed out that the hybrid force feedback device will be a new development direction in the future. This paper briefly expounds the meaning of ergonomics and its research emphases, and analyzes the application of ergonomics in the design of force feedback device. In the design, we must fully combine ergonomics in order to design products that meet the needs of "human". According to the knowledge of robotics, the kinematics equation and the force transfer relation between the mechanical structure of the force feedback device and its workspace are established. Under the guidance of ergonomics and the concrete application of force feedback technology in industry, the design requirements of force feedback device are put forward, and the design index is determined according to the design data of force feedback device. The mechanism form of force feedback device for industrial application is determined and its function is briefly summarized. Then the mechanical transmission mode is discussed in detail, and the size determination and material selection in mechanical structure engineering design are further realized. Finally, the design of a hybrid mechanism with six degrees of freedom is completed. The mechanism is composed of two parts, the two parts are connected in series, but each is a parallel mechanism, thus avoiding the disadvantage of using series-parallel mechanism alone. Virtual disassembly and disassembly technology based on combining force feedback technology has been used more and more in product development and maintenance with its unique advantages. This paper attempts to apply it to the field of printing machinery, and discusses in detail the key technologies involved in the process of disassembly and assembly, including the modeling of geometry, the construction of virtual scene, the planning of disassembly sequence and the realization of force feedback, etc. An example is given to verify the method of drawing counterforce. Finally, in the virtual reality software virtools, following the above key technology and virtual disassembly and assembly planning process, the key interface tool PHANTOM force feedback device is realized, which is the key interface tool of the interaction between the force and the force, and the specific disassembly and assembly scheme of the paper transfer mechanism of the printing press is realized.
【学位授予单位】：北京印刷学院
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH112

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