一种6自由度力反馈主手重力平衡方法

发布时间：2018-05-25 00:18

本文选题：力反馈主手 + 静态透明性　；参考：《机械设计》2017年11期

【摘要】：透明性是力反馈主手核心性能之一,直接影响到主手的力反馈精度、运动精度,以及操作者的疲劳感。当运动速度不高时,能否减少甚至完全消除主手重力对人手的影响成为力反馈主手研制中的关键技术。文中提出了一种重力平衡方法,可以让包括位置机构与姿态机构在内的6自由度混联式主手实现完全重力平衡,具有优良的静态透明性。同时,为了应用于制造和生产,又对提出的重力平衡条件进行了误差灵敏度分析。结果表明,在众多影响因素中,杆件质量与质心位置造成的不平衡均可通过调整配重来补偿,而杆件尺寸的误差及手腕质心位置对透明性影响最大,无法通过调整配重来消除。为了减少手腕质心位置与杆件尺寸造成的影响,文中给出了杆件公差带布置方法与各公差的限制条件。试验表明,主手在理论上满足重力平衡条件以后,通过应用文中给出的结论,可在实际中很好地保证主手的重力平衡性能。
[Abstract]:Transparency is one of the core properties of the force feedback master hand, which directly affects the force feedback accuracy, motion accuracy and operator fatigue of the main hand. When the movement speed is not high, it is a key technology to reduce or even eliminate the influence of the gravity of the main hand on the hand in the development of the force feedback master hand. In this paper, a gravity balance method is proposed, which can realize the complete gravity balance of the 6-DOF hybrid master hand, including the position mechanism and the attitude mechanism, and has excellent static transparency. In order to be used in manufacturing and production, the error sensitivity of the proposed gravity equilibrium condition is analyzed. The results show that the imbalance caused by the mass and centroid position of the member can be compensated by adjusting the weight, but the error of the bar size and the position of the centroid of the wrist have the greatest influence on the transparency, which can not be eliminated by adjusting the weight. In order to reduce the influence caused by the position of the center of mass of the wrist and the size of the bar, the layout method of the tolerance zone of the bar and the limiting conditions of each tolerance are given in this paper. The experiment shows that the gravity balance performance of the master hand can be well guaranteed in practice by applying the conclusions given in the paper after satisfying the gravity equilibrium condition in theory.
【作者单位】：天津大学机械工程学院教育部机构理论与装备设计重点实验室;
【基金】：国家高技术研究发展计划(863计划)资助项目(2007AA04Z205)
【分类号】：TP242

【相似文献】