一种新并联主手的灵巧度分析

Dexterity analysis of a novel double-parallel haptic interface

建立了基于Delta和3-RRR复合结构的双并联式主手平动与转动独立的运动学模型,并推导出各自的雅可比矩阵,给出了局部灵巧度和全局灵巧度的计算方法.在计算过程中,引入了MonteCarlo方法使计算过程简化,效率提高.给出了特定构型下的机构灵巧度分析结果,验证了上述方法的有效性,灵巧度的分析结果可直接用于主手的优化尺度综合.

Independent translational and rotational kinematic models of a Delta and 3-RRR mechanism based double parallel haptic device were established and the corresponding Jacobean matrixes were derived respectively. Calculation methods of local dexterity and global dexterity were presented. Monte Carlo method was introduced which simplified the algorithm and increased the calculation efficiency. The calculation result under a specified device parameter set showed the validity of this methodology. The derived dexterity analysis result can be directly used in dimensional synthesis of the haptic device.