| 考虑力传递性能的力觉反馈手控器的优化设计 |
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| 引用本文： | 韩江义,游有鹏,虞启凯.考虑力传递性能的力觉反馈手控器的优化设计[J].机械设计,2012(7):67-71. |
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| 作者姓名： | 韩江义 游有鹏 虞启凯 |
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| 作者单位： | 江苏大学汽车与交通工程学院;南京航空航天大学机电学院 |
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| 基金项目： | 江苏大学高级人才基金资助项目(11JDGD44) |
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| 摘 要： | 对机构力传递性能进行研究,并提出力传递能力概念。建立一种综合机构工作空间、运动学性能和力传递性能的多目标优化函数,并应用于一种三平动自由度的手控器机构优化设计。对机构优化结果进行工作空间、机构雅可比条件数和力传递性能分析,确定基本结构参数和动力驱动参数,进一步完成样机制作。优化和研制过程为高性能手控器的研制提供了参考。
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| 关 键 词： | 手控器 力传递 优化设计 |
Optimize design of a hand controller with force sense feedback in considering force transmission performance |
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| HAN Jiang-yi,YOU You-peng,YU Qi-kai.Optimize design of a hand controller with force sense feedback in considering force transmission performance[J].Journal of Machine Design,2012(7):67-71. |
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| Authors: | HAN Jiang-yi YOU You-peng YU Qi-kai |
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| Affiliation: | 1.School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang 212013,China;2.College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China) |
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| Abstract: | After the force transmission performance of mechanism was studied,the concept of force transmission capacity was proposed.A multi-objective optimization function consisted of workspace,kinematics performance and force transmission performance was established and applied in optimization design of a three DOF hand controller mechanism.The optimization results of workspace,Jacobian condition number and performance of force transmission of mechanism were analyzed,parameters of primary structure and drive was determined,the prototype was manufactured eventually.The progress of optimization and development has provided references for development of hand controller with outstanding performance. |
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| Keywords: | hand controller force transmission optimization design |
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