| Haptic interaction technology can provide immersive telepresence for humancomputer interaction process,and has important application prospects in space exploration,industrial production,medical surgery and other fields.Haptic interaction controller is the core and key equipment of interaction system.With the development of science and technology,especially in the field of ultra remote precision operation and control of space robot,industrial precision assembly,precision minimally invasive surgery,the demand for a new generation of high-precision space multi-dimensional haptic interaction controller is increasingly urgent.In this paper,a multi-dimensional force interaction controller system is designed for multi field precision operation application scenarios,which has the characteristics of constant transmission of interactive force,full balance of gravity,high precision and operation comfort.The main research contents are as follows:The constant transfer parallel mechanism is introduced into the design and development of multi-dimensional force interaction controller.This paper analyzes the main sources of the accuracy error of the existing haptic interaction devices,selects and applies a suitable parallel mechanism with constant transfer performance to avoid the error and time delay caused by real-time detection and calculation of pose and mapping relationship,and improves the accuracy.A global constant transfer multi-dimensional haptic interaction controller mechanism is proposed,and the mechanical model of the multi-dimensional haptic interaction controller is established.Based on the screw theory and vector method,the mapping relationship between the position and the force between the operator and each driving sensing unit is calculated.Based on the constant transfer characteristics of constant Jacobian mechanism and the counterweight method,an implementation method of multi-dimensional force sensing interactive controller for gravity full balance is proposed.Based on the statics theory and control variable method,the gravity balance conditions of single branch and whole machine are analyzed.Through the continuous statics simulation of single branch and whole machine by Solidworks and Adams software,two generations of experimental prototype which can realize the complete gravity balance are designed and developed.The correctness of the gravity balance theory of multi-dimensional force interactive controller is verified.Considering the application scenario and force interaction performance index,the appropriate driving sensing unit is selected,the theoretical anti drive resistance of the driving unit is calculated and the experimental measurement is carried out,and the anti drive resistance compensation value is obtained.The prototype model of multi-dimensional haptic interaction controller is designed.Based on 3D printing additive manufacturing technology,the structural parts of the controller are processed,the relevant parts are selected and assembled,and the prototype body of the haptic interactive controller is developed.According to the force output and sensing characteristics of each branch,the parameters of each driving sensing unit are set by EPOS Studio software.Based on Windows 10 system and EPOS4 controller,C#language is used to complete the communication control between the driver sensing unit and the host computer.Through Solidworks and 3ds Max,Unity 3D software and platform design,the precise operation application scenarios of medical minimally invasive surgery,spaceflight extravehicular operation and industrial gearbox assembly are built.The research work provides a reference for the development of a new generation of global constant transfer multi-dimensional haptic interaction controller. |
