| Man-machine interaction technology and telepresence technology become a researchhotspot with the development of teleoperation. Man-machine interaction technology is anefficient means of precise control for teleoperation, it allows the operator to makereal-time adjustments for teleoperation process and make the actuator accomplish the taskcorrectly. Telepresence technology provides real and accurate information of remote endas the reference for interactive control. As a device with motion control function andforce feedback function, hand controller is widely used for application and research inteleoperation.In this thesis, application experiment and teleoperation application research wereconducted for3-DOF hand controller based on Delta parallel mechanism. First designindicators of hand controller was analyzed. the virtual prototype model of hand controllerwas built, the motion space of the mechanism was analyzed by ADAMS. Kinematicmodel was established, the movement output function was achieved through kinematicanalyses and positive and inverse solution calculation, which were carried out based ongeometric constraints. Then motion simulation by ADAMS which validated kinematiccalculation was conducted. Gravity compensation method was studied based on theoperating characteristics of hand control, the gravity compensation model was built,driving torque of every electric motor which to balance the gravity of hand controlleritself in any position was got through statics analyses and the principle of virtualdisplacement. The application of gravity compensation improved operator comfort ofhand controller.The experiment software platform was developed by VC++, experiment under directcontrol and virtual reality control were carried out, The motion control function of handcontroller was achieved in experiment. The experiment results demonstrated thefeasibility of applying hand control to teleoperation interactive control. |
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