一种线绳式力反馈装置的设计与实现

摘要

针对增强现实和遥操作技术的需要,设计了一套线绳-框架式力反馈装置.该装置通过8根线绳并联驱动,实现人手与增强现实环境的6自由度力觉交互.详细阐述其结构设计、位姿计算、反馈力分配、驱动单元与传感器单元的布置和控制系统设计等关键问题.通过虚拟墙碰撞实验的结果,表明该力反馈装置能实现真实的力觉临场感.%A force feedback device is designed based on string-frame structure for the augmented reality and remote-robotics. The device allows human hands to interact with the augmented reality environment with 6DOFS driven by 8 parallel strings. The device design is elucidated in detail in this paper, including its structure design, kinematic modeling, force distribution, configurations of sensors and control system. Through conducting the virtual collision experiment and simulating the collision of a manipulator with a hard wall, the result verifies the effectiveness of the force feedback device and applicability in augmented reality environment.