二自由度闭环触觉再现机构的反向驱动性能

Reverse driving character of 2-DOF closed chain haptic device

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.

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 haptie 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.