Development of a compact highly efficient and verratile 6-DOF haptic interface

这项研究的目标是开发和应用一种功能强大、体积小、性能高的触觉接口。具体地说，它是一种紧凑型六自由度触觉接口装置的实现，具有广泛的工作空间和响应带宽，实现了具有非常简单接口的高度通用的各种计算系统的控制装置，以及该触觉接口装置在空间遥操作中的应用。本研究的成果可概括如下1.建立了计算并联结构刚度随结构参数变化的新的分析模型。利用该模型，可以很容易地预测并联结构的刚度随结构参数变化的变化情况。因此，从刚性的角度来优化这个触觉界面成为可能。设计了具有较大刚度改善的触觉界面，并开发了其原型。在上述分析模型的支持下，加上到目前为止的原型经验基础上，成功地设计和制作了一种触觉接口，其特性比目前开发的原型有了很大的改善。还计划在互联网上分享这一新型触觉界面原型的工程图纸。选取空间遥操作作为该触觉接口的一个应用，并进行了研究。利用该触觉接口，对基于工程测试卫星VH(ETS-VII)的机械臂进行了遥操作实验，验证了其重量轻、运动范围大等特点的有效性。此外，还开发了一个双臂机器人系统作为空间遥操作的地面实验装置，并使用该触觉接口代替了该系统的主设备，从而显示了其有效性。

The objective of this research is the development and application of a highly versatile, small and high performance haptic interface. Specifically, it is the realization of a compact 6-DOF haptic interface device with wide workspace and response bandwidth, the realization of a highly versatile control device with a very simple interface for various computing systems, and the application of this haptic interface device to the space teleoperation. The outcome of this research can be summarized as below.1. A new analysis model to calculate the stiffness of the parallel structure as a function of the structural parameters was developed. With this model, it became possible to easily predict the variations in the stiffness of the parallel structure due to the changes in the structural parameters. Consequently, it became possible to optimize this haptic interface from the stiffness point of view.2. The haptic interface with a widely improved stiffness was designed and its prototype was developed. Backed by the above-mentioned analysis model and along with a prototyping experience basis until now, the successful design and prototyping of a haptic interface with largely improved characteristics over the prototypes developed until now was achieved. It is also planned to share the engineering drawings of this new haptic interface prototype on the internet.3. The space teleoperation is picked up as an application of this haptic interface, and the research is carried out. With this haptic interface, the teleoperation experiment of the Engineering Test Satellite VH (ETS-VII)-based robotic arm was executed and hence the effectiveness of its light weight and wide movement range features was demonstrated. Moreover, a dual-arm robotic system was developed as a ground-based experimental setup for the space teleoperation, and this haptic interface was employed in place of the master device for this system and hence its usefulness was shown.