Research On The Novel Force Feedback Haptic Device

The force feedback haptic device is an important part in the tele-operation task, also it plays an important role in the human-interactive interface:on one hand, it can send the position and the velocity information to the slave-hand as the input device; on the other hand, it can accept and reappear the feedback force as the output device. Based on the latest development and research of the haptic device, this paper focuses on the design and research of the universal haptic device. The main content of the thesis is as followed:Firstly, a novel mechanism is proposed for a new haptic device with a large workspace according to the design indicators. The translation platform and rotation platform are decoupled. And then the fundamental structure, the characteristics and performance and the working principle are discussed, also the key parts are analyzed in detail.Secondly, the main parameters which affect the performance of the haptic device are also analyzed; particularly, the working space and the length of the bar are analyzed and simulated in MATLAB, the stiffness of the linkage is simulated in ANSYS, and then the resolution is analyzed according to the design indicators. The kinematics and force is analyzed according to the configuration of the haptic device, which make the relationship between the input angers and the output displacements, also it needs to be confirmed how the motors act when the end-effectors simulate a given force. The theoretical result is examined in the ADAMS.Thirdly, the design scheme of the6-DOF haptic device control system is proposed. According to the specific demand, the control system composed of the upper-computer and the lower-computer, the lower-computer monitors and controls the motors coordinately, also the acquisition of the contact force is under the control. The upper-computer takes charge of the positional solution, the decomposition of the feedback force and the data communication. Then the electronic components are introduced. The next is the control program design in the upper-computer; the control of the planar five-bar mechanism is based on the location information. The mechanism in the vertical directions is using the velocity control algorithm based on interaction force signal. Force signals are acquired in real time to estimate the magnitude of action caused by manipulator’s movement. And then a PID control algorithm is used to control the motor speed to make the compensation.At last, the experiment is conducted to test the performance of the haptic device, mainly includes movement in free space and force feedback performance test.