一种用于主从控制的阻尼力可调关节模块机构设计

摘要

现有的力觉反馈设备,大多将驱动力直接作用于操作人员,具有操纵安全性和柔顺性上的缺陷.针对这个问题,设计了一种用于主从控制的阻尼力可调关节模块机构.该关节模块机构基于制动器原理设计,为被动力反馈系统,安全性好.驱动器使用一对膜片式气缸,采用驱动力转换为摩擦力方式,间接达到转动阻尼力调节的目的.文中论述了阻尼力可调关节模块的设计方案、阻尼力调控原理,并对制作的样机进行实验和数据分析.经过实验证明,阻尼力可调关节模块机构响应速度快、运动可靠、控制精度高,达到了主从控制的使用要求.%The driving force of most existing force-feedback device is directly acted on operating personnel,this way has shortcomings in security and flexibility of manipulation. Aiming at this problem, a kind of adjustable damping force joint module institutions used in master-slave control is designed. The joint module designed based on the principle of the brake, is a dynamic feedback system, with good security. The drive using a pair of cylinder diaphragm, taking the way of transforming driving force to frictional, indirectly achieves the purposes of rotational damping force adjustment. The design of adjustable damping force of joint module, govern principle of damping force control principle are discussed in this paper, experiment and data analysis are done to the production of prototype. The experiments show that: damping force adjustable joint mechanism module has the characteristic of fast response, reliable motion and high control precision, achieving the main control requirements.