| The information the users get from the traditional human-computer interaction is single and fuzzy, which could cause incorrect judgement and operation. The force haptic interaction is added into the force haptic feedback system, from which people can get more feedback information, and greatly improve the effect of human-computer interaction. Force haptic feedback system has broad application prospect in various fields. The force feedback device based on general robot with seven degrees of freedom was designed and constructed in this paper. Its control principle and application with virtual reality technology were analyzed, which provide reference for the fast construction and application of force haptic feedback system.The main contents are as follows:(1)The composition and working principle of force haptic feedback system were researched, and the external and domestic force feedback product and the relevant academic research results about force haptic feedback system were studied. The background and significance of this paper were illustrated.(2) Interaction mechanism's type selection of force feedback device. The characteristics of completely series or parallel interaction mechanism of force feedback device were analyzed. The compound topological structure with three translation and three rotation was determined, which based on seven degrees of freedom force feedback interaction mechanism, and according to the requirements of the force feedback device performance, the parameters of interaction mechanism, like working space and the maximum output power, were determined.(3) Interaction mechanism anaylsis of force feedback device.The structural characteristics, freedom, kinematics and dynamics of Delta parallel mechanism were analyzed. The position vector loop equation and the Lagrange dynamics equation of Delta mechanism were established and the kinematics and dynamics were solved. The movement of wrist mechanism and clamping mechanism were analyzed.(4) Mechanical design of interaction mechanism. The wire rope transmission mechanism on active arm of Delta mechanism, Delta mechanism, wrist joint mechanism and clamp mechanism were analyzed and designed respectively based on the analysis of mechanism motion and dynamic and the function requirement of the force feedback device.(5)Control implementation of force haptic feedback system. The electric control principle of the force feedback device was analyzed, and the electric system was constructed. The matching principle between the force feedback device and the slave device was analyzed. The master-slave control principle of the force haptic feedback system is researched based on the robot control principle.(6)The application of force feedback device and virtual reality technology. The modeling method of the flexible bodies in virtual reality environment was introduced, and the dynamics model of the spring mass model was established in this paper. The bounding volume hierarchies and the triangle intersection test techniques were analyzed. The collision detection method in virtual scene was researched, and the virtual interaction model and the interaction principle between the force feedback device and the virtual environment were analyzed. |
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