摘要
介绍了一种线绳式力交互机构及其工作原理,针对机构工作空间计算,提出了两种受最大拉力条件制约的分析方法,通过计算给出了所设计的3自由度力觉交互设备的多级力觉空间.计算结果表明,力觉交互设备的级别越高,力觉空间范围越小;电机拉力或间距越大,同一级别力觉空间范围越大.
This paper introduces a sort of cord-type haptic interaction device,and presents two methods to analyze its haptic workspace restricted by the maximum tension of strings.By using the proposed methods,multi-level haptic workspaces of the 3-DOF haptic device were drawn.The results show that the higher level of the haptic device the smaller volume of the workspace.For the devices with same level,the workspace volume is directly proportional to the pull or distance of the motors.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2012年第4期377-380,共4页
Transactions of Beijing Institute of Technology
基金
国家自然科学基金资助项目(60674052)
