【摘要】 针对自主研发的力觉交互装置进行了重力补偿的实验研究,提出了重力补偿的实验算法,并验证了算法的有效性。首先利用拉格朗日方程的方法对机构进行重力补偿的原理性计算,得到电机为平衡重力所输出力矩的计算方法;然后以虚拟样机为基础,应用三维实体造型软件SolidWorks和机械动力学分析软件AD-AMS建立了力觉交互装置的虚拟样机,通过仿真分析验证了理论推导的正确性;最后通过力觉交互系统实验平台验证了重力补偿算法的有效性。更多还原

【Abstract】 Gravity compensation for haptic device designed by ourselves is researched by the way of experiments. A gravity compensation algorithm is brought forward and its availability is also confirmed. Firstly, the principle calculation of gravity compensation for the mechanism is completed based on the Lagrange′s approach and the calculation method of the output toques of the motors for balancing mechanism gravity is gained. Secondly, the virtual prototype of the haptic device is established by using 3D solid modeling software SolidWorks and automatic dynamic analysis software of mechanical system ADAMS. The correctness of the calculation obtained theoretically is validated by simulation and analysis. Finally the efficiency of the gravity compensation algorithm is affirmed by the experiment platform of haptic interaction system.更多还原