The Study Of The Decoupled Force Feedback Manipulator With 3-DOF Translation

In recent years, with the development of virtual reality and remote manipulation, the research on the force feedback controller has been concerned by many universities and academes. The force feedback manipulator as a force control/display device has all kinds of types, such as joystick, steering wheel, data gloves, exoskeleton or hand manipulator and so on. According to the structure, it has chain structure, parallel structure and chain-parallel structure. According to the setting mode, it can be divided into portable manipulator and table-based manipulator, which can be worn on the user's arm or hand, or be set on a table or the ground, even be set on the top of the room.This paper introduces a 3-DOF translational parallel manipulator, which will be fixed on a table. This manipulator not only has the merit of a parallel robot, but also avoids the inconvenience what is caused by the manipulator which is worn on the user's body. The manipulator behaves along X-Y-Z axes due to the orthogonal arrangement of the three limbs, and it is decoupled on kinematics, that is to say, each limb only controls one directional movement and has no effect on the other directional displacement. In this paper, the manipulator is studied in many fields, such as the structure, kinematics, statics, physical model of the solution space, performance and so on. The detailed descriptions are as follows:1. The kinematics equation of this mechanism has been built, and we've got the forward solution, the inverse solution and the jacobian matrix J.2. The statics equation and the force/moment transmission matrix G are obtained, which is the base of the design of the software before long.3. The physical model of the solution space is established and that grounds the foundation for the optimum design.4. The kinematics transmission isotropic indices, the mechanics transmission isotropic indices, the kinematics transmission indices, load-bearing capability indices etc. has been put forward. And the index atlases are presented. At the same time, we've discussed the peculiar situation and the workspace of the manipulator.