Research And Optimization Of Haptic Interface Based On 3-DOF Parallel Mechanism

With the development of technology,the Virtual Reality(VR)has played an important role in our daily life.The simulator can simulate the flight and improve the pilots' control level;the simulate can also make people in the game environment,and its vivid scene gives people more real feeling,and enrich our life.The VR needs to connect the virtual scene and the reality through the haptic interface.This paper has designed 3-DOF parallel mechanism to simulate human force input.This paper includes the main contents is as the following:1.Kinematic analysis of parallel mechanism is carried out.Firstly,the positional normal solution of parallel mechanism is established by the exponential coordinates and the derivation of Jacobian matrix of parallel mechanism is got.The study of singularity of parallel mechanism bases on the Jacobian matrix and finds that the parallel mechanism will be at singular point in three situations.At last,we have built the VR of parallel mechanism and testify kinematic analysis the by ADAMS.2.The study has deigned the mechanical structure based on the theory of parallel mechanism and thinking of the mechanical mass balance during the process.Firstly,without affecting the simulation results,we make the prototype more simple and has built VR in ADAMS and made a simulation.Secondly,add three dimensional forces at the end of the machine and analyses the movements of the machine by dynamics simulation and analyses the force and torque of the encoder.At last,according to the result of simulation,choosing and checking the bearings.3.In order to make the parallel mechanism in better movements,we optimize the size of the mechanism by Genetic Algorithm(GA).When the parallel mechanism is at the isotropic,the parallel mechanism could get a better movement performance in its space.Through optimizing the condition of the mechanism,we make the mechanism at the isotropic.