面向虚拟装配与遥操作的新型数据臂设计

数据臂是可佩戴的人机交互设备。首先综述了国内外数据臂的研究，其次基于平面四杆机构和空间机构运动的确定性原理，设计了一种机构测量式的新型7自由度外骨架数据臂，给出了机构简图和数据臂测量人手臂运动信息的机构原理、建立了传感器与测量关节之间数学关系模型，探讨了一般异构机器人的控制方法，然后加工出样机数据臂并进行了走直线轨迹和圆轨迹试验、遥操作控制试验，给出了数据臂的试验曲线，证明了数据臂应用于遥操作控制等领域的有效性。

DESIGN OF A NEW TYPE DATAARM ORIENTED TO VIRTUAL ASSEMBLY AND TELEOPERATION

Dataarm is a wearable HCI device. First, the domestic and international research of dataarm are summarized. Second, based on the theory of motion stabilization of four-bar linkage and spatial mechanism, a new type of mechatronic exoskeleton dataarm with 7 DOF is developed. The mechanism sketch are given, as well as the theory of measuring man arm's motion by dataarm and mathematics model between sensor and man's joint. The general control method of isomerous robot are discussed. Then a prototype dataarm are made and experiments of drawing line and circle are conducted, as well as teleoperation. The results proved the dataarm are valid and can be applied into fields such as teleoperation.