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为实现遥操作力反馈系统操作主手的设计,提出了由 Stewart 并联机构组成的六自由度力反馈操纵杆的结构原理;根据其主要功能,提出了对操纵杆的主要性能要求,包括工作空间、奇异位形、结构解耦及各向同性等;在满足主要性能要求的条件下,分析了性能与上下平台半径、上下平台定位角及连杆长度等参数之的关系,为设计提供了依据。
In order to realize the design of master manipulator with teleoperation force feedback system, a six DOF force feedback joystick composed of Stewart parallel mechanism was proposed. According to its main functions, the main performance requirements of joystick were proposed, including workspace , Singularity configuration, structure decoupling and isotropy etc .; under the conditions of meeting the main performance requirements, the relationship between performance and the parameters such as the radius of the upper and lower platforms, the positioning angle of the upper and lower platforms and the length of the connecting rod is analyzed, which provides a basis for the design .