完全重力平衡下的力感主手手腕结构改进

许炜泽; 赵臣; 范荣芳; 薛雯

doi:10.13433/j.cnki.1003-8728.2017.0206

完全重力平衡下的力感主手手腕结构改进

doi: 10.13433/j.cnki.1003-8728.2017.0206

1.
天津大学机械工程学院, 天津 300072

详细信息

作者简介:
许炜泽(1991-),硕士研究生,研究方向为力感机器人、机电一体化,292620473@qq.com

通讯作者:
赵臣(联系人),副教授,博士,硕士生导师,zhaochen@tju.edu.cn

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- 文章访问数: 138
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- 被引次数: 0
出版历程
- 收稿日期: 2015-06-05
- 刊出日期: 2017-02-05

Improve the Wrist Structure of the Haptic Master under Gravity Balance

1.
School of Mechanical Engineering, Tianjin University, Tianjin 300072, China

摘要

摘要: 力感主手的手腕对主手的动态性能影响很大。为提高主手的动态性能，在通用型力感主手的基础上，采用将捏持点从手腕腕心移出的方法对主手手腕结构进行改进。确定由于捏持点与手腕腕心不重合而产生的额外力矩不会对人的力感觉产生干扰的最大移出距离。在力感主手处于完全重力平衡的条件下，根据人机工程学提出手腕结构的改进方案，降低手腕质量，并提高了手腕结构的刚度，使主手末端的惯性力降低了57%，显著提升了主手的动态性能。
- 力感主手 /
- 重力平衡 /
- 手腕 /
- 结构改进
Abstract: The wrist structure greatly affects the dynamic performance of the haptic master. In order to improve the dynamic performance of the device, we remove the thumb point from the wrist center to improve the wrist structure based on the universal haptic master developed by lab associates. Under the premise of not changing the force information of the end effecter, the maximum removed distance is determined in the condition of not disturbing the sense of the operator caused by additional moment. In the full gravity balance for the haptic master, the wrist structure is improved based on the ergonomics. The mass of the wrist is decreased while the stiffness of the wrist is increased. And the inertia of the haptic master is reduced by 57% which effectively improves the dynamic performance of the haptic master.
- haptic master /
- gravity balance /
- wrist /
- structure improvement

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参考文献(14)

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