关键词: 6自由度, 力觉交互设备, 牙科手术仿真

Abstract: Interaction force sense is an effective way to improve the fidelity of the simulation training system. How to design the interaction force sensing devices which can satisfy the requirement of the system performance is important for surgery simulation system development. From the design case, the design method of force sensing task oriented interactive devices is discussed. The dental surgery simulator of force sensing interactive equipment performance requirements is analyzed. It indicate that the existing commercial force sensing interactive equipment cannot satisfy the dental surgery simulation for high rigidity and large rotating work requirements of the space, thus a new kind of 6 DOF mechanism scheme of force sensing interactive equipment is put forward, 3-RRC parallel mechanism with the combination of 3R institutions is used, so high rigidity and large rotating work space are get. Physical prototype test shows that the equipment work space, maximum output force and virtual stiffness indexes meet the design requirements.

Key words: 6-DOF, dental surgery simulation, force feedback device