| 一种穿戴型力反馈主手结构的综合尺度优化 |
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| 引用本文： | 郭语,帅双辉,孙志峻,赵淳生.一种穿戴型力反馈主手结构的综合尺度优化[J].南京航空航天大学学报,2010,42(4). |
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| 作者姓名： | 郭语 帅双辉 孙志峻 赵淳生 |
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| 作者单位： | 1. 南京航空航天大学精密驱动研究所,南京,210016
2. 第二炮兵驻1002厂军代室,南京,210013 |
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| 摘 要： | 利用连杆机构以及超声制动器,设计了一种穿戴型具有力反馈功能的主手单指结构并进行了综合尺度优化,优化过程综合考虑了主手机构的运动范围和动力学反向驱动能力.在建立人手食指和主手单指运动学方程的基础上,提出了基于工作空间最小包容原则的主手单指的结构参数优化目标函数,结果显示操作者食指与所佩戴主手单指的工作空间可实现较好匹配.采用拉格朗日法建立了主手单指机构的动力学模型,并以力椭圆为衡量指标对主手单指机构进行了反向驱动能力的分析.最后,给出了有效的修正依据,提高了主手单指机构的反向驱动能力.
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| 关 键 词： | 主手单指 工作空间 优化 力椭圆 |
Dimensional Synthesis Optimization of Wearable Master Device with Force Feedback |
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| Guo Yu,Shuai Shuanghui,Sun Zhijun,Zhao Chunsheng.Dimensional Synthesis Optimization of Wearable Master Device with Force Feedback[J].Journal of Nanjing University of Aeronautics & Astronautics,2010,42(4). |
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| Authors: | Guo Yu Shuai Shuanghui Sun Zhijun Zhao Chunsheng |
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| Institution: | Guo Yu1,Shuai Shuanghui2,Sun Zhijun1,Zhao Chunsheng1(1.Institute of Precision Driving,Nanjing University of Aeronautics & Astronautics,Nanjing,210016,China,2.The Second Artillery Military Chamber of 1002 Factory,210013,China) |
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| Abstract: | Using link mechanism and ultrasonic brake,a wearable master finger with force feedback is designed to optimize dimensional synthesis.In the optimization process,the workspace and the reverse driving capability of the master finger are synthetically considered.Based on the foundation of kinematics equations of the master finger and the human index finger,the objective function of structural parameter of master finger by the minimum envelope principle of workspace is presented.The result shows that workspaces... |
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| Keywords: | master finger workspace optimization force elipse |
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