Three Degree Of Freedom Man-machine Interactive Force Feedback Device And Application

With the development of virtual reality technology,force feedback technology has been widely used as an important means of human-environment interaction.Force perception not only allows the human body to sense information such as hardness,weight,and inertia of the object,but also helps the body to judge the movement state and the movement tendency of the object.The traditional human-computer interaction interface mainly relies on the visual and aural information feedback,lacks the force and tactile perception,and it is easy to make mistakes in judgment and operation due to a single and fuzzy perception of information,so the reliability of the system application is reduced.As an interface device for human-computer interaction,it is important to accurately provide large-scale force feedback in virtual reality and teleoperation systems.This thesis aiming at existing force feedback devices,such as data gloves,wearable devices,and special equipment with some insufficient of small range,large volume,and complicated structure,a force feedback device with strong universality and large range and human-computer interaction application software are designed.In this thesis,solidworks is used to design the structure of the feedback device.STM32 series single-chip microcomputer is seletcted to design the controller,which mainly accomplishes the following functions: collects the movement position information of force feedback device;drives force feedback actuator;realizes the communication with the human-computer interaction software.In addition,two different interactive softwares(one based on virtual robotic arm and the other based on virtual artificial hand)were developed in Visual Studio C++ combined with OpenGL graphics library platform and Unity 3D environment.The system can control object in the virtual scenes to finish specific tasks through force feedback devices.The presence of operator is enhanced and work efficiency is improved with force and visual feedback.The main work and innovation of this thesis are:(1)The solution of the position of the force feedback device is convenient and the solving efficiency in the interactive software is improved because of the non-coupling design for force feedback device structure.(2)Based on the threedimensional solidworks structural schematic diagram of the force feedback device,it is modeled and analyzed using Adams software,so the feasibility of the force feedback output scheme of the force feedback device is deduced,the research development cost is reduced,and development cycle is shorten.At the same time,the force feedback effect is improved by compensating for the partial feedback force device.(3)OpenGL and 3D Max are used to highly simulate the virtual operation scene,real-time virtual scenes are displayed at multiple viewing angles in the interface and the collision detection algorithm of the hierarchical bounding box is adopted to improve the operating efficiency of the operator.