Research Of A6-Dof Force-Feedback Hand Controller For The Point To Ponit Remote Robot Control

Hand controller is the very important part of the teleoperation. Its performance affects the efficiency of bilateral control a lot as the haptic interface. In this paper, a method of decoupling mechanism was given, which splits a6-DOF hand controller into translation platform and rotation platform. Moreover, the technical parameters, hardware modules, control software and control algorithm were discussed in this paper. After the survey of other hand controller, the general principle of the general purpose hand controller was given. With these principles, the function modules of the hand controller were discussed.First, the Mechanism designing was carried out. In the purpose of meeting the work space conditions and reducing the difficulty of the mechanism design, a decoupling mechanism designing was given. In this design method, a6-DOF mechanism was split into translation platform belongs to3-DOF Cartesian parallel mechanism and rotation platform belongs to3-DOF serial rotation mechanism, both of two platforms’ mechanisms were simulated in SolidWorks software.After the completion of mechanism design, kinematic analysis was carried out for forward kinematic and reversed kinematic of the position of the handle. Then the relationship between end force and driving module output force was given in static analysis. Finally the dynamic characteristics analysis was carried out.Finally, control system of the hand controller was discussed and implemented. In order to implement the hand controller’s function, the hardware structure and control software was analyzed and designed, and refer to the common force control algorithm, a new algorithm was given. The control algorithm was implemented in the control software which was installed in the PC. At last, the algorithm was tested with the finished translation platform, the control system was proved to be effective.