CAJ | 학술논문

遥操作机器人力反馈手控器是遥操作系统中非常关键的部分.使用少自由度并联机构设计的混联式手控器具有串联机构和并联机构两者的优点,是手控器设计的热点方向.研制满足位置控制的大位移力反馈手控器时,平衡工作空间和机构刚度指标非常重要.基于Delta机构研制了6自由度混联式手控器,并在solidworks软件平台上对手控器机构进行了仿真实现.分析了手控器的运动学性能,在matlab环境中运行手控器工作空间的仿真算法,结果显示设计的手控器适合进行大位移力反馈的控制.
요조작궤기인력반궤수공기시요조작계통중비상관건적부분.사용소자유도병련궤구설계적혼련식수공기구유천련궤구화병련궤구량자적우점,시수공기설계적열점방향.연제만족위치공제적대위이력반궤수공기시,평형공작공간화궤구강도지표비상중요.기우Delta궤구연제료6자유도혼련식수공기,병재solidworks연건평태상대수공기궤구진행료방진실현.분석료수공기적운동학성능,재matlab배경중운행수공기공작공간적방진산법,결과현시설계적수공기괄합진행대위이력반궤적공제.
The man-machine interface, namely the so called hand controller, is a key part of teleopration sys-tem. A hybrid method using low degree parallel mechanism, which is a hotspot in hand controller design, may have advantages of both the serial mechanism and parallel mechanism. It is very important to balance workspaee and stiff-ness when building a large displacement force-reflecting hand controller(FRHC). A 6-DOF hybrid hand controller based on Delta mechanism is developed. The design of hand controller is simulated on solidworks platform. Kinematic performance of the hand controller is analysed and an arithmetic of workspaee simulation is developed in Matlab envi-ronment. The simulation result shows that this method is suited for a large displacement control.