CAJ | 학술논문

作为人机交互实现的关键，力反馈设备的性能直接决定了力觉交互的效果，可尽可能真实地再现虚拟环境中的质量、惯量和硬度等信息。为了拓宽力反馈器的应用范围，满足虚拟拆装的应用要求，设计了一种新型的混联式力反馈器。结合对现有力反馈器机型的认识和工作原理的理解，提出了新型力反馈器的设计要求，并解决了设计中的几个关键问题。采用柔性体传动方式对驱动电机的输出力矩进行放大。基于工程设计原则，确定了机构的尺寸和材料，并对设计出的具体机构进行了描述。
작위인궤교호실현적관건，력반궤설비적성능직접결정료력각교호적효과，가진가능진실지재현허의배경중적질량、관량화경도등신식。위료탁관력반궤기적응용범위，만족허의탁장적응용요구，설계료일충신형적혼련식력반궤기。결합대현유력반궤기궤형적인식화공작원리적리해，제출료신형력반궤기적설계요구，병해결료설계중적궤개관건문제。채용유성체전동방식대구동전궤적수출력구진행방대。기우공정설계원칙，학정료궤구적척촌화재료，병대설계출적구체궤구진행료묘술。
As the key of human-computer interaction, force feedback devices, whose performance decides the effect of force interaction, can reproduce as truly as possible the weight, inertia and hardness as well as other information in the virtual environment. In order to broaden the application scope of force feedback devices and meet the application requirement of vitual disassembly and assembly, a new hybrid force feedback device is designed. With the understanding to the existing models and the work principle of force feedback device, the design requirements of the new force feedback device is proposed, then several key points in the process of design are resolved. The output torque of the drive motor is amplified by flexible body transmission. Based on engineering design principles, the size and material of the mechanism get determined, then the overall description to the specific mechanism is given at the end.