气动力反馈数据手套设计与验证

摘要

A force feedback data glove based on micro-low-friction cylinders is proposed to solve the problem of low haptic force that force-feedback devices can supply in virtual assembly environments for large complex mechanical electronic products. This paper firstly introduces the structure and working principle of the glove. Then an experimental system is built to verify hand joint flexion angle measurement and force haptic feedback of the glove, through kinematics calculation based on Newton iteration method. Finally, an interactive control system is built, describing the virtual hand's space position by D-H theory and calculating virtual force on the base of mass-spring model with virtual wall. Experimental results show that the glove could realize large force haptic feedback, meeting the needs of virtual grasp in a virtual assembly system.%针对目前面向大型复杂机电产品的虚拟装配环境中力反馈装置所能提供的触觉力偏小的问题,提出一种基于微型低摩擦气缸的内置式力反馈数据手套.首先介绍了手套结构及其工作原理;然后搭建了实验系统,基于牛顿迭代法进行运动学方程组求解,验证了手套的角度测量和力反馈功能;最后开发了手套的人机交互控制系统,采用D-H理论来描述虚拟手的空间位置,基于虚拟墙的弹簧-质点模型计算虚拟力.实验结果表明,所设计的数据手套可实现大触觉力的反馈,满足虚拟装配系统虚拟抓取的需求.