关键词: 人机交互设备, 试验研究, 数学模型, 齿轮啮合, 传动系统, 电力机车, 动力学特性, 重载

Abstract: Dataarm is a wearable HCI device. First, the domestic and international research of dataarm are summarized. Second, based on the theory of motion stabilization of four-bar linkage and spatial mechanism, a new type of mechatronic exoskeleton dataarm with 7 DOF is developed. The mechanism sketch are given, as well as the theory of measuring man arm’s motion by dataarm and mathematics model between sensor and man’s joint. The general control method of isomerous robot are discussed. Then a prototype dataarm are made and experiments of drawing line and circle are conducted, as well as teleoperation. The results proved the dataarm are valid and can be applied into fields such as teleoperation.

Key words: Experiment research, HCI, Mathematical model, Dynamic characteristics, Electric locomotive, Gear meshing, Heavy-haul, Transmission system