论文标题
具有模块化线性致动器的大力触觉界面
A Large Force Haptic Interface with Modular Linear Actuators
论文作者
论文摘要
本文提出了一个具有模块化线性致动器的触觉界面，可以根据旋转接头解决常规设备的局限性。提出的触觉界面由具有高背景性和小惯性的平行线性致动器组成。在力能力，反射惯性和结构刚度方面将触觉界面的性能与常规机制进行了比较。通过提出的机制可以实现高刚度，具有高力能力的大型运动，这些机制在传统的触觉界面中处于权衡关系中。该设备最多可连续施加83 n，它比大多数触觉设备大三倍。在相似条件下，理论最小触觉密度和所提出机制的刚度分别为传统机制的1.3至1.9倍和37倍。该系统也很可扩展，因为其结构刚度仅取决于正时皮带的刚度，而传统触觉接口的结构刚度与结构长度的立方成反比。模块化执行器设计可以为不同应用更改自由度（DOF）。通过与刚性壁的虚拟环境进行的相互作用实验对所提出的触觉界面进行了测试。
This paper presents a haptic interface with modular linear actuators which can address limitations of conventional devices based on rotatory joints. The proposed haptic interface is composed of parallel linear actuators that provide high backdrivability and small inertia. The performance of the haptic interface is compared with the conventional mechanisms in terms of force capability, reflected inertia, and structural stiffness. High stiffness, large range of motion with high force capability are achieved with the proposed mechanism, which are in trade-off relationships in traditional haptic interfaces. The device can apply up to 83 N continuously, which is three times larger than most haptic devices. The theoretical minimum haptic force density and the stiffness of the proposed mechanism were 1.3 to 1.9 times and 37 times of conventional mechanisms in a similar condition, respectively. The system is also scalable because its structural stiffness only depends on the timing belt stiffness, while that of conventional haptic interfaces is inversely proportional to the cube of structural lengths. The modular actuator design enables change of degrees freedom (DOFs) for different applications. The proposed haptic interface was tested by the interaction experiment with a virtual environment with rigid walls.
