• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 2005, Vol. 41 ›› Issue (8): 75-78.

• 论文 • 上一篇    下一篇

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2自由度触觉交互装置驱动性能分析

郭卫东;国欣;张玉茹   

  1. 北京航空航天大学机械工程及自动化学院
  • 发布日期:2005-08-15

ANALYSIS OF THE DRIVING CAPABILITY FOR 2-DOF CLOSED CHAIN HAPTIC DEVICE

Guo Weidong;Guo Xin;Zhang Yuru   

  1. School of Mechanical Engineering and Automation, Beihang University
  • Published:2005-08-15

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摘要： 触觉交互装置的驱动性能是衡量触觉交互装置设计成败的重要指标，也是触觉交互装置设计的主要依据。以自行设计的2自由度闭环触觉交互装置为对象，对触觉交互装置驱动性能进行了研究，提出了评价触觉交互装置正向和反向驱动性能的方法。在对机构进行静力学和动力学分析的基础上，给出了衡量驱动性能的具体指标。

关键词: 触觉机构, 机构, 驱动特性, 性能分析

Abstract: The driving capability is an important criterion to evaluate the performance of the haptic device. It is also a main issue that must be considered when the device is designed. A new 2-DOF closed chain mechanism is designed. The methods for analyzing forward and backward driving capability are presented on the basis of the static and dynamic analysis. Results are given to show the driving capability of the device.

Key words: Capability analysis, Driving capability, Haptic device, Mechanism

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