摘要
介绍了一种新型(BUAA-III型)七自由度数据臂的设计原理和组成,进行了数据臂的空间结构虚拟设计和数据臂测量机构的自由度分析。该数据臂既可以检测人手臂各关节变化,同时又可以获得手臂各关节角度和腕部的位置变化,并具有部分关节力反馈功能,已成功应用在网络遥操作主从臂控制仿真平台上。
The designing principle and constitution of a new typed data arm with 7 DOF （model BUAA-Ⅲ） were introduced. The virtual design on spatial structure of data arm and the analysis on degree of freedom of measuring mechanism of data arm had been carried out. This data arm can not only detect the variation of each joint of human arm but at the same time also obtain the angles between every joints of arm and the variation of wrist positions. It possesses functions of force feedback of partial joints, and has already been successfully applied to the simulative control platform of remote operated masterslave data arm in network.
出处
《机械设计》
CSCD
北大核心
2005年第9期33-35,42,共4页
Journal of Machine Design
基金
国家自然科学基金资助项目(60205005)
关键词
数据臂
关节检测
自由度分析
力反馈
data arm
detection of joints, analysis of degree of freedom
force feedback
