力反馈设备运动学分析及轨迹规划

Kinematics Analysis and Trajectory Planning of Force Feedback Device

针对于人体的复杂组成,要求力反馈设备必须具有精确稳定的工作性能。介绍了设备的构件组成和工作方式,运用D-H参数法建立每一个杆件的坐标系,得到了相邻杆件之间的齐次变换矩阵。经过运动学分析,得到了力反馈设备运动学特征方程。利用ADAMS进行设备的轨迹规划,理论分析和实际仿真结果表明该力反馈设备结构具有良好的运动特性。

In view of the complex composition of the human body, the force feedback equipment must have accurate and stable working performance. The equipment components and working way were introduced, each member of the coordinate system was estab- lish by using D-H parameter method, the homogeneous transformation matrix between neighboring rods was obtained. Through the kine- matic analysis, the characteristic equation of the force feedback device kinematics was obtained. The trajectory planning of the equip- ment was carded out with ADAMS, theoretical analysis and practical simulation results show that the force feedback device has good movement characteristics .