The Design And Applied Research Of A Parallel Hand Controller With Force-feedback

With the continuous development of Virtual Reality and Teleoperation technology,the research of human-computer interaction has become a hot spot; The way ofman-machine interactive has gradually extend to haptic from the traditional way of visualand sound. Haptic interactive is becoming popular and be widely researched and appliedbecause of its good telepresence feeling, the hand controller with force-feedback is onekind of haptic interactive controller, it can from a two-way servo control system of theposition or velocity and force, this system can make the operator more truly feel the forceinformation as soon as control the slave-robot to assist the decision making and operations,it is one of hotspots in the field of teleoperation research at present.This article focusing on the master-slave teleoperation system, design a3-DOF handcontroller based on Delta parallel mechanism with the function of force feedback. Afteranalyzing the main principle of the hand controller with force feedback, realize thefunction of kinematic control and force output with function-oriented, and establishrelevant application environment to test the related functions. In the realization of motioncontrol, the angle measurement based on orthogonal optical encode is first implementedby the microcontroller’s interface of timer, and then the kinematics algorithm for handcontroller is analyzed, thought that, we finally realized the function of motion control. Inrealization of the force feedback output function, a PWM DC motor driver is designed torealize the function of torque control after analyzed the principles it, and then the staticsanalysis of the hand controller is completed to implement force feedback output functionof the hand controller.We have verified the function of motion control by control a3-DOF mechanical arm;A virtual Force feedback simulation platform base on CHAI3D environment wasdeveloped to simulate the application of hand controller in the virtual scene ofMaster-slave teleoperation system, further verify the effectiveness of motion control andforce feedback of the hand controller.