System Design Of6-DOF Hand Controller

With the popularization of Interactive robot of tele-operation and virtual reality technology, there will be a large amount of man-machine interface devices needed which has the function of force and tactile sense feedback.There are several interface devices of interactive operation technology, but hand controller is one of the most important and effective ones. On the one hand, by measuring the position of the operator’s hands, the device will generate commands and it can control manipulator or virtual manipulator in virtual reality technology to track the movement of human hands. On the other hand, it will transfer the information, which is from force and tactile sense provided by robots, into force or torque and apply on human hands. In simple words, it can help operators feel that they were standing by working robots when they are far from the site. In the end it will achieve the control of robots with feelings, or the real human touch in virtual reality.Comparing with the important application in foreign countries, the development of hand controller is relatively backward in our country. Hand controller is a typical intelligent device with electromechanical integration. The design of manual device involves several subjects, including ergonomics, measuring technology, control technique, mechanical design, materials science etc. This article focuses on the design and researching on the mechanical properties of hand controller.A series parallel manual device with6-DOF (degree of freedom) is presented in this paper. Its translation and rotation mechanisms are arranged in series. The translational mechanism is a typical delta one, and the rotation belongs to series type. As delta is one of parallel mechanisms, comparing with analyzing kinematics and dynamics of series mechanism, the parallel comes to be more complicated. This article mainly focuses on analyzing the delta mechanism, by using ADAMS virtual prototype to do the simulation of kinematics and dynamics on the delta, finally confirm the feedback control element. At the same time, the shape of the hand controller is designed and presented by UG.