高动态透明性主手的优化设计

An Optimal Design of High Dynamic Transparency Haptic Interface

动态透明性是主手的核心性能之一,直接影响到主手的力感精度以及操作者的疲劳感.为了提高动态透明性,采用弱不平衡设计与结构拓扑优化,在减少惯性力的同时考虑了主手形变的影响.通过研究优化过程中表观质量的变化规律以及主手末端的变形特点,提出了一种拓扑优化方案,使主手全局表观质量与标称位置处的表观质量明显减少.研究结果表明,主手全局表观质量与标称位置处表观质量分别减少了28.2%,和32.0%,,而100,g以内的表观质量所占面积比例增加了27.6%,,该方法可以使设计出的主手具有良好的动态性能.

Dynamic transparency is one of the core features of haptic interface,which directly affects the feedback force accuracy and operator fatigue.To improve dynamic transparency,we propose a weak imbalance method and structural optimization.It is a method which takes both the inertia and deformation into account.According to the variation trend of the apparent mass and the deformation in the process of optimization,a reasonable optimization scheme that can reduce the global and nominal apparent masses was achieved.The results show that the global and nominal apparent masses are reduced by 28.2%, and 32.0%, respectively while the proportional area of apparent mass within 100,g in the workspace is increased by 27.6%,.This method can effectively improve the dynamic performance of the device.