《新型气动力反馈数据手套的设计与研究》》-毕业论文.doc

新型气动力反馈数据手套的设计与研究 Design and Research of a New Type of Pneumatic Force Feedback Data Glove 摘 要 虚拟现实是利用计算机模拟建立的三维空间的虚拟场景，结合外围人机交互设备，给予操作者视觉、听觉、力觉和触觉等各个感官的模拟，使操作者如同身临其境，可以如同现实一样去感知三维空间的事物及其特性。虚拟现实的三大特性是：沉浸感、交互性和构想性。人实际认识事物很大程度上是通过人手来实现的，因此研究人手与虚拟场景的交互操作是非常重要的，为了增强人手与虚拟场景的沉浸感和交互性，操作者借助的外围接口设备显得很关键。 本文研究的重点就是在对现有力反馈数据手套进行研究和分析的基础之上，研制了一种基于低摩擦气缸为驱动器的新型力反馈数据手套，设计的力反馈数据手套样机具有输出力大、摩擦力小和重量轻等特点，并且能够较好地实现力反馈数据手套关节角度测量和反馈力输出这两大通用功能。 首先，以人手骨骼模型为出发点，分析人手的运动特性，建立了人手运动简图模型。探讨了力反馈数据手套控制的对象——虚拟手模型的建立方法、碰撞检测算法、抓取技术和虚拟力计算。 其次，通过选用低摩擦气缸作为驱动器和相关机械结构的设计，研制了一种新型力反馈数据手套。通过研究角度传感器和位移传感器的原理，设计了人手-手套整体的姿态间接测量方法。 然后，针对所设计的力反馈数据手套进行量化分析。建立了人手-手套整体的运动学模型，得到并求解其运动学方程组，以实现位姿反馈。设计了气动回路，得到力反馈的控制模型。同时，对设计的力反馈数据手套的性能参数：重量、摩擦力和运动范围进行了评估和计算。 最后，针对设计的力反馈数据手套设计了实验系统，进行了低摩擦气缸静特性、人手关节角度测量和力反馈控制三个实验，得到了手套驱动器输出力的计算公式、人手弯曲时关节角度的变化曲线和模拟虚拟操作时的力触觉功能。 关键词：虚拟现实；力反馈；数据手套；角度测量 英 文 摘 要 ABSTRACT Virtual Reality is giving simulation of the operator’s vision, hearing and feeling by making use of the three-dimension virtual scene in the computer and with the help of human-interaction equipment, so that the operator seems have self participation to perception the three-dimension’s things and their features as reality. Virtual Reality has three characteristics: Immersion, Interaction and Imagination. Actually, people acknowledge things by hands at most time, so it is very important to research interaction between the hand and virtual scene. Therefore, the human-interaction equipment plays a key role in the interaction, so as to enhance the immersion and interaction. The main point of this paper is design a new type of force feedback data glove, which using low-friction cylinders as its actuator, on the base of research on existing data gloves at home and abroad. The glove has three characteristics with big output force, low-friction and light weight. What’s more, the glove realized common glove’s two functions very well, which is joint measurement and feedback force output. First, the hand’s kinematics characterist