【作者】 郭旭；

【导师】 罗欣；

【作者基本信息】 华中科技大学 ， 机械电子工程， 2012， 硕士

【摘要】 力觉反馈是构建虚拟/增强现实系统重要的感官信息交互方式，在遥距操作、医疗手术、康复训练、教育培训、信息可视化以及娱乐等诸多方面展现了广阔的应用前景。本文基于线绳-框架式结构，研究和设计了一套力反馈装置。该装置通过8根线绳并联驱动，能实现人与虚拟/增强现实环境的6自由度力觉交互。提出线绳-框架式力反馈装置的总体方案和结构，据此推导了已知8根线绳长度条件下求解末端执行器位姿的运动学公式，提出一种在已知末端作用力条件下线绳牵引力分配的规划方法。根据人手关节输出/承受力的作用的生物力学特点，对线绳长度、线绳牵引力的传感方法及元件，以及驱动单元类型进行计算和选型，设计了传感器、驱动单元布置方案，完成力反馈装置的机构和结构设计。确定力反馈控制系统的上位机-下位机硬件实现方案。基于ATmega64单片机，搭建嵌入式控制系统，完成位置/力信号读取、电机驱动、上下位机通信等外围电路设计。利用OpenGL图形库在上位机上搭建虚拟环境。采用虚拟墙实验，验证了该力反馈装置在接触-碰撞过程中能实现真实的力觉感知。更多还原

【Abstract】 Force feedback is an essential interactive manner of sensory information in VR/ARsystems, and has the broad application prospects in teleoperation, surgical operations,rehabilitation training, education, information visualization, entertainment and so on. Thisthesis presents a force feedback device based on the string-frame structure, with6DOFsdriven by8parallel strings.Both schematic design and structure design are taken based on the string-frame model.The kinematic equations of the manipulator’s position and pose are derived given the lengthsof the8strings. A planning method for tension assignment in the8strings is presented giventhe force of the end manipulator.On the basis of biomechanical characteristics of human hands’ outputting and sustainingforce, sensory methods of and sensors for measurement of the string lengths and tensions aredetermined, as well as the type of actuator units. The layout of sensors, actuator unit and othermechanisms are designed deliberately.The hardware of force feedback controlling system with desktop computer andmicroprocessors is designed. An embedded controller system with ATmega64microprocessors is built, including units of position and force signals reading, motor drive andcommunication interfaces between the desktop computer and microprocessors. A virtualenvironment is built in the desktop computer using OpenGL. A virtual collision experiment isconducted, simulating the collision of a manipulator with a hard wall, and the result verifiesthe effectiveness of the force feedback device.更多还原