Design And Control Strategy Of A Force-feedback Master Manipulator

Haptic devices are generally acted as master manipulators to control the motions of slave manipulators or computer graphics. This dissertation investigates into some issues on conceptual design, performance evaluation, dynamic calculation, control strategies, force feedback, and experiments validations. The following work has been accomplished.Firstly, according to the requirements of minimally invasive surgery, a novel master manipulator with 7 degrees of freedom is proposed. The features of the device include simple structure, decoupled position and orientation, weight self-balancing, and so on. After system optimization, the device meets the application requirements.Secondly, the dynamic analysis is carried out based on Lagrange Equations; the force-reflecting control strategies are also investigated and the static force-feedback is primary implemented.Finally, the accuracy calibrations are carried out. The results show that repetitive positioning accuracy of the manipulator achieves 0.5mm, and the master-salve motion accuracy is less than 0.8mm.The manipulator studied in the dissertation has been successfully applied in"Micro Hand A"system: a) used as surgeon input device, it has finished four animal experiments; b) used as virtual simulation system input device, it has accomplished surgical simulation in the virtual environment.