面向大尺度多任务仿真的力觉交互设备

摘要

The iFee16-BH1500, a noval haptic interaction device based on a cable-driven parallel mechanism, was developed for large scale and multitask simulations.The iFeel6-BH1500 is driven by eight motors to achieve the outputs of 3 degree of freedom (DOF) force feedback and 3 DOF torque feedback to users.The paper gives the definitions of ideal workspace and real worksapce of a cable-driven haptic device, presents the method for workspace computation, and compares two haptic interaction configurations according to the workspace.The cable-driven parallel machanism has the advantages of low inertia, large workspace and reconfigurability, so the iFeel 6-BH 1500 is suitable for the haptic interaction in large scale and multi-task simulations.The application of the iFeel6-BH1500 for virtual assembly of an aircraft engine is presented.%研制了一种新型的基于绳驱动并联机构的力觉交互设备iFeel6-BH1500,该设备采用8个电机驱动,实现了设备操作末端三维力和三维力矩输出.定义了绳驱动力觉交互设备的理想工作空间和实际工作空间,提出了工作空间的计算方法,以工作空间为指标比较了两种构型的优劣,给出了iFeel6-BH1500用于飞机发动机虚拟装配的实例.绳驱动并联机构具有工作空间大、构型易重构等优点,比较适合于面向大尺度多任务仿真的力觉交互应用.