| The application of equipment for force/torque feedback is more and more in the field of virtual reality, remote console, master-slave manipulator and remote manipulation etc. The species and structure of force/torque-feedback equipment are multiform. This article proposes a kind of 6 degree of freedom (DOF) parallel force/torque feedback device with 3 chains, and systematically analyses its parallel mechanism. Firstly, the parallel mechanism's kinematics is analyzed. Utilizing the analysis, the forward and reverse equations to position for mechanism is obtained, and verification is carried out. Jacobin matrix reflecting the transitive performance of mechanism's kinematics is deduced. The analytic forward equation is helpful to increasing the rapidity of mechanism's real-time control ability which is an important evaluating index for device of force/torque feedback. Secondly, based on the analysis of mechanism's kinematics, utilizing the Jacobin matrix and positional inverse solution equations of this mechanism, the singularity, workspace and flexibility ratio of mechanism are analyzed. Utilizing the analysis, the relationship between pose of moving platform and parameters of mechanism's structural dimension is presented when the parallel mechanism is paradoxical. The dimension and shape of workspace are analyzed which are effected by the relationship of two factors which are the difference of fixed and moving platform's circumradius and the prismatic's length. The evaluating indicator's value of mechanism's flexibility ratio is plotted in workspace being given, and the regular of change is generalized. The analysis of above is a theoretical basis for the further analysis and design of dimension for this mechanism. At last, the dimension of mechanism is given according to the analysis before, and the mechanism is emulated utilize OpenGL VC-based.
|
PDF Full Text Request