机械科学与技术2017，Vol.36Issue(2)：196-201,6.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
Improve the Wrist Structure of the Haptic Master under Gravity Balance
摘要
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.关键词
力感主手/重力平衡/手腕/结构改进Key words
haptic master/gravity balance/wrist/structure improvement分类
信息技术与安全科学引用本文复制引用
许炜泽,赵臣,范荣芳,薛雯..完全重力平衡下的力感主手手腕结构改进[J].机械科学与技术,2017,36(2):196-201,6.
