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。
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.
出处
《机械科学与技术》
CSCD
北大核心
2017年第2期196-201,共6页
Mechanical Science and Technology for Aerospace Engineering
关键词
力感主手
重力平衡
手腕
结构改进
haptic master
gravity balance
wrist
structure improvement
