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二自由度闭环触觉再现机构的反向驱动性能
引用本文:国欣,郭卫东,张玉茹.二自由度闭环触觉再现机构的反向驱动性能[J].北京航空航天大学学报,2005,31(7):753-756.
作者姓名:国欣  郭卫东  张玉茹
作者单位:北京航空航天大学,机械工程及自动化学院,北京,100083;北京航空航天大学,机械工程及自动化学院,北京,100083;北京航空航天大学,机械工程及自动化学院,北京,100083
摘    要:触觉再现装置的反向驱动性能是衡量触觉再现装置设计成败的重要指标,也是触觉再现装置设计的主要依据.对二自由度触觉再现机构进行设计,得到了二自由度触觉再现机构的物理样机;以二自由度触觉再现机构为对象,用拉格朗日法对其进行动力学分析,在此基础上给出了评价机构反向驱动性能的衡量指标--广义惯性椭球(GIE),并用图形直观地描述了机构的反向驱动性能;通过改变部分构件的材料改善了触觉再现机构的反向驱动性能,以便在设计中选择性能合适的二自由度触觉再现机构.

关 键 词:触觉交互  动力学  驱动
文章编号:1001-5965(2005)07-0753-04
收稿时间:2004-10-30
修稿时间:2004年10月30日

Reverse driving character of 2-DOF closed chain haptic device
Guo Xin,Guo Weidong,Zhang Yuru.Reverse driving character of 2-DOF closed chain haptic device[J].Journal of Beijing University of Aeronautics and Astronautics,2005,31(7):753-756.
Authors:Guo Xin  Guo Weidong  Zhang Yuru
Institution:School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
Abstract:Reverse driving character plays an important role in evaluating the performance of haptic device, and it's the primary rule in the mechanical design. The problem of 2-DOF haptic device design for improving reverse driving character was investigated. A 2-DOF closed chain haptic device was designed and a physical prototype was produced in the factory; Based on the physical prototype, the 2-DOF haptic device was analyzed with the method of dynamics which was called Lagrabgian equation, the reverse driving character of the haptic device was evaluated by the generalized inertia ellipsoid (GIE) which can be illustrated with graph directly. With the help of changing material of some components, the reverse driving character of the haptic device can be improved, so that an appropriate 2-DOF haptic device can be obtained in the design aftertime.
Keywords:haptic interface  dynamics  driving
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