军民两用技术与产品
軍民兩用技術與產品
군민량용기술여산품
Dual Use Technologies & Products
2015年
18期
42-43
,共2页
遥操作%触觉再现%弹性梁%水下机械手
遙操作%觸覺再現%彈性樑%水下機械手
요조작%촉각재현%탄성량%수하궤계수
remote operation%feeling representation%elastic beam%underwater robot arm
针对水下遥操作的需要，提出了一种新颖的基于弹性梁有效变形长度控制的触觉感知再现方法，并研制了实时柔性触觉感知再现装置。该装置对抓、握、夹持等单自由度遥操作具有非常友好的人机交互体验，可应用于水下机械手末端动作单元的带触觉反馈的遥控操作，通过调节弹性梁有效变形长度，快速控制梁的刚度变化，使操作者实时感知到远端被操作对象的刚度和接触力度，准确识别对象的物理特性和分类。
針對水下遙操作的需要，提齣瞭一種新穎的基于彈性樑有效變形長度控製的觸覺感知再現方法，併研製瞭實時柔性觸覺感知再現裝置。該裝置對抓、握、夾持等單自由度遙操作具有非常友好的人機交互體驗，可應用于水下機械手末耑動作單元的帶觸覺反饋的遙控操作，通過調節彈性樑有效變形長度，快速控製樑的剛度變化，使操作者實時感知到遠耑被操作對象的剛度和接觸力度，準確識彆對象的物理特性和分類。
침대수하요조작적수요，제출료일충신영적기우탄성량유효변형장도공제적촉각감지재현방법，병연제료실시유성촉각감지재현장치。해장치대조、악、협지등단자유도요조작구유비상우호적인궤교호체험，가응용우수하궤계수말단동작단원적대촉각반궤적요공조작，통과조절탄성량유효변형장도，쾌속공제량적강도변화，사조작자실시감지도원단피조작대상적강도화접촉력도，준학식별대상적물리특성화분류。
A novel method based on effectively deformable length of elastic beam control to realize the feeling representation for the need of underwater remote operation,and the real time soft feeling interface device has been developed. The device has good experience of human-machine interactive to only one DOF remote operation (grab, hold,grasp,etc.),which is pretty useful to remote work with feeling representation for ending active unit of underwater robot arm. Rapid control of beam stiffness becomes easy by control the effectively deformable length of beam,which is good at helping operator to feel the stiffness and touch degree. Finally target’s physical property and classify could be distinguished exactly.
