基于超声电机的主操作手装置设计

摘要

A master manipulator device which use linkage mechanism as a basic skeleton structure is designed. The device use the ultrasonic motor as a drive,which can measure finger joint bending angle, and can provide fingertip force feedback. ADAMS simulation software is used and simulate the force size which is caused by the fingertips out of the need for additional exposure. And verify the mechanical design of the rationality and feasibility.%设计了使用连杆机构作为基本骨架结构的主操作手装置,由超声电机作为驱动器,能够测量手指关节弯曲角度,并能提供指尖力反馈.并且采用ADAMS仿真软件,仿真计算出入手指尖所需要额外承受的由主手自重带来的力的大小.同时验证主操作手机械设计的合理性与可行性.