摘要
针对于人体的复杂组成,要求力反馈设备必须具有精确稳定的工作性能。介绍了设备的构件组成和工作方式,运用D-H参数法建立每一个杆件的坐标系,得到了相邻杆件之间的齐次变换矩阵。经过运动学分析,得到了力反馈设备运动学特征方程。利用ADAMS进行设备的轨迹规划,理论分析和实际仿真结果表明该力反馈设备结构具有良好的运动特性。
In view of the complex composition of the human body, the force feedback equipment must have accurate and stable working performance. The equipment components and working way were introduced, each member of the coordinate system was estab- lish by using D-H parameter method, the homogeneous transformation matrix between neighboring rods was obtained. Through the kine- matic analysis, the characteristic equation of the force feedback device kinematics was obtained. The trajectory planning of the equip- ment was carded out with ADAMS, theoretical analysis and practical simulation results show that the force feedback device has good movement characteristics .
出处
《机床与液压》
北大核心
2017年第3期10-13,共4页
Machine Tool & Hydraulics
基金
国家863计划资助项目(2013AA013804)
关键词
力反馈设备
运动学
轨迹规划
Force feedback device
Kinematics
Trajectory planning
