Research And Design Of A Weak Imbalanced Haptic Master Manipulator With High Dynamic Performance

Haptic master manipulator is an important part of the master-slave tele-operation robot,which could control the slave-manipulator and provide feedback force.It can greatly improve the quality of operation.In addition to the better static balance performance,a high performance haptic manipulator should have good dynamic transparency to ensure the static haptic accuracy.The inertia has a seriously impact on dynamic transparency when the manipulator moved at high speed.Therefore,the method of reducing the influence of the inertia has been became a key problem in the study of the haptic manipulator.A completely static balanced haptic master manipulator was invented by our team,which mainly suitable for low speed application such as surgical operation.In this paper,the weak imbalance method is used to deal with the gravity problem to improve the dynamic performance.In order to facilitate comparison,the workspace and size of the manipulator is designed that referred to a famous product.What is more,the wrist structure is improved.The weak imbalanced haptic master manipulator had a better static balanced performance.And it would not affect the force perception of the operator while effectively reduced the apparent mass.In order to further reduce the influence of the inertia to improve the dynamic transparency,the topology optimization of the device is carried out.Firstly,the trajectories are planned based on ergonomics,and the weak positions of each link are found in the process of movement.Then the topology optimization of the mechanism is carried out on the condition of these positions.The optimization scheme is determined by the area proportion of apparent mass which less than 100 g in the workspace,where the global apparent mass,nominal apparent mass and the deformation are taken into account.The calculation of force sense and the static balance are based on the assumption that the links of the manipulator are rigid.Therefore,it is of great importance that how to handle the relationship between reducing the inertia and ensuring the structure stiffness in the process of topology optimization.In this paper,a design method is proposed to reduce the inertia,improve the dynamic tranparency and ensure sufficient structure stiffness.