The Study And Implement On The Three-dimension Force Sensor And Controller Based On Haptic Device

As a human-computer interaction device, the Haptic device can not only transmit information to the computer in a natural behavior, but also has the ability to apply feedback fore to the people, it has incomparable advantages when compared with other terminal interaction equipments.As a result, it was widely applied in the field of games and virtual reality system. However, here is huge research funds invested for force-feedback domestic and abroad. There is a considerable gap of the study for force-feedback technology between China and international, there are several series of practical, commercial Haptic devices launched abroad; what is more, some platforms for virtual reality experiment have been built abroad. However, there is no commercial Haptic device introduced in domestic, and most of the study and development for virtual reality technology are based on the foreign system.This paper studies the multi-dimensional force sensor for a Haptic device, and designs a new type of structure of three-dimensional force sensor abased on the multi-dimensional force sensor’s performance of small volume, light weight, high precious; At the meanwhile, this paper designs a controller for the Haptic device based on the characteristics of multi-motor and multi-sensor in the controller of Haptic device.This paper designs a new type of three-dimensional force sensor mechanism by referring the domestic and international design of multi-dimensional force sensing mechanism,then taking a finite element analysis for it, demonstrating the feasibility of a three-dimensional force decoupling, designing a signal conditioning system, completing the static calibration of the three-dimensional force sensor and solving out the decoupling matrix. Moreover, we have designed the controller of the force-feedback device, achieved the DC current control for three DC motors, detected the position and posture of holding pen, and completed the communication with the host computer. At last, designing out the circuits of Haptic device controller and the three-dimensional force sensor for signal conditioning, taking a detailed analysis of the circuits. The TMS320F2812 DSP, with its high performance, is adopted as the core control chip in this paper. The coding and debugging are mainly completed on the CCS3.3.