| Telerobot is a significant robot scheme that was put forward after robots that can eventually operate autonomously and eliminate the need for human operators had been researched for many years and proved of having a lot of throwbacks. At present the dataglove is usually one of the human-mechanism interactive devices, its function is helping operater to teleoperate the multi-fingered robot hand depend on feedbackAt present few datagloves have the function of force feedback, A few existing force-feedback datagloves were analyzed, and it was found that their performance was not ideal. Therefore, a force-feedback dataglove based on electric magnet force had been developed, The dataglove has simple structure,light weight,low operating voltage and very easy to control it, The data glove can supply the proportional force, which exerts on the robot’s hand, to the controller’s hand by changing the strength of current. Our fingers could flex and extend in bi-direction smoothly, which makes it applied to virtual assembly system.Firstly, the overall structure, actuation system and principle of force feedback are introduced. The force feedback device is just like a glove, which is used by the controller. The glove includes a platform and five special set tubes, these five special set tubes are placed on the platform. The top of set tube is connected to the corresponding fingertip. This glove allows different users to make some adjustment and support the whole feedback system. The principle of force feedback of this force feedback device is to use two electric magnets to provide this feedback force. One electric magnet is vertical, and the other is horizontal. When there is no feedback signal from the robot’s hand, our finger can flex and extent freely and smoothly, but if the robot’s hand touches some objects and comes up with a feedback signal, the iron core of vertical electrical magnet pushes out and rubs the inside wall of sue tube. And it brakes because of this friction force. The other electric magnet provides feedback force. Based on the simplified hand model, the kinematics analysis and static analysis of index finger and the data glove are made. The fingertip force and the kinematics relation between finger joints and the leverage of the device are derived, which provides theoretical basic for the structural design, force feedback control of the data glove. According to the kinematics analysis and static analysis, the working principle of the data glove in the virtual reality field, this lays a solid theoretical foundation for the application of force feedback data glove.Secondly, the principle of electric magnet design, model, parameters and some related features are introduced. We can use some engineering empirical formula to work out electric magnet force. And we can come up with the exact number of this force when the iron core is in different place. Analyze some factors which affect the feedback force, which provides help for the choice of parameters.Finally, an experimental system of the force feedback data glove is established. We can use dynamometer to measure the real feedback force in reality. Then some analysis should be made between theoretical value and experimental value. Use MSC51to act as a core of datagloves control system, expend L293power amplifier,A/D,D/A,USB,and design the software and devices of datagloves control system. |
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