Three Degree-of-Freedom Architecture for Hand-Controllers and Robots

摘要

The goal of this work was to develop a new mechanical architecture-for actively powered haptic ("force-feel") hand-controllers and robotic manipulators-that offers enhanced performance in terms of combined work-space size, position and force control accuracy, and payload. For hand- controllers, these attributes have obvious impact on the subjectively perceived "feel" of interactions with virtual or telemanipulated environments. controller or manipulator form the mechanical linkage that couples force and motion between the device s actuators (motors) and end-effector. Thus, the linkage s architecture directly determines not only the work space but also transmission characteristics such as dynamic range (comparing maximum usable force to friction) and bandwidth (frequency content of deliverable force and motion) that define control.