Research And Application Of 6-DOF Serial Haptic Feedback Manipulator

As the key of the human-computer interaction in the virtual assembly(VA),the haptic devices are required the ability to realistically reproduce the force perception in the virtual environment,and enable the users to complete the assembly operation by the haptic feedback in the highly immersive virtual environment.At present,the researches of the haptic feedback devices mainly focus on improving the machine type and the system control.However,the researches on the practicality and application of the devices are relatively few,which leads to its lagging development,and there are no commercialized haptic feedback products yet.Aiming at the problems existing in the researches of the haptic feedback devices,this paper analyzed the key performance parameters of the 6-DOF serial haptic feedback manipulator independently developed,and established the gravity compensation model and the force output compensation model,respectively,and designed the wireless acquisition system of the end to improve the practicality of the robotic arm.In addition,aiming at the application of the force feedback manipulator in virtual mechanical assembly,the force rendering model of the VA based on the bolted joints is studied and the prototype system is designed and implemented.The main contents are as follows:(1)The kinematic/kinetic analysis of the haptic device is carried out,and the motion and feedback force control algorithm are corrected according to the above analysis results.Aiming at the performance indicators of the device,the simulation methods of the max output force,the max continuous output force,the position resolution and the position accuracy are proposed.(2)In order to optimize the operation performance of the device,a wireless terminal system for collecting angles is designed to eliminate the interference of the cable during the operation.Meanwhile,the gravity compensation method based on the statics and the virtual displacement principle is researched to reduce the user's fatigue.Moreover,the force rendering compensation model is proposed to ensure the accuracy of the feedback force.(3)According to the operation in the VA application,it is divided into three phases: free operation,assembly positioning and assembly.Especially,based on the stress condition of the bolted assembly,the assembly phase is subdivided into the navigation,transitional,linearity and yield phases,and a corresponding force rendering model is proposed.(4)With the developed haptic manipulator and the data glove as interactive interfaces,a VA prototype system,which has integrated the force feedback model to realize the continuous assembly force feedback in VA process,is designed and developed.In addition,taking the bolt assembly on t on the reducer casing as an example,two groups of comparative experiments are designed to evaluate the usability of the VA system.