Force Display for Inter-Atomic Bonds Using a Parallel Wire Drive System

使用平行线驱动系统显示原子间键的力

• 批准号: 09650293
• 负责人: HASHIMOTO Minoru
• 金额: $ 2.18万
• 依托单位: Kagoshima University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1997
• 资助国家: 日本
• 起止时间: 1997 至 1998
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09650293/
• 关键词: Force Display; Inter-Atomic Bonds; Parallel Mechanism; Haptic Interface; Virtual Reality

The aim of our research is to develop a force display device for the inter-atomic bonding state and its control algorithm. The final goal of this research is to aid scientists by improving the perceptibility of data describing the atomic world. During the term of 1997, we completed a prototype of a 6-DOF manipulator that uses a parallel wire drive system. In 1998, the control system was produced and its algorithm was studied. Basing the experiments presented herein on our previous research, we obtained the following results.1. A 6-DOF force display device using a parallel wire drive mechanism was developed. When holding a ball called an atom ball, the operator can feel the motion and the bonding state of an atom. The inertial moment of the manipulator can be reduced by using a parallel wire drive system with seven wires. Thus, high speed 6-DOE motion is possible, though accurate position control is difficult because the control performance is affected by fluctuation of wire tension equilibrium.2. The decision procedure of the scaling factors between the atomic and human worlds was proposed, and the control algorithm for the force display was studied. The validity of the procedure was proved by an experiment with atomic bonding states using a l -DOF force display device. We adopted an empirical inter-atomic potential for the atomic bonding state and a molecular dynamic method for atomic behaviors. Based on the applied force from the operator to the atom, the atom position of the next time period is computed by using the molecular dynamic method. Then the next atom position is used as the desired position for the feedback control of the force display device.With regard to future research, we recommend that further experiments using the 6-DOF force display system be conducted.

本研究的目的是开发一种用于原子间成键状态的力显示装置及其控制算法。这项研究的最终目标是通过提高描述原子世界的数据的可知性来帮助科学家。在1997年期间，我们完成了一台采用并联绳索驱动系统的六自由度机械手的样机。1998年，研制了控制系统，并对其算法进行了研究。在前人研究的基础上，我们得到了以下结果。研制了一种采用平行线驱动机构的六自由度力显示装置。当操作者拿着一个叫做原子球的球时，可以感觉到原子的运动和成键状态。机械手的惯性力矩可以通过采用七线并联的绳索驱动系统来减小。因此，高速6-DOE运动是可能的，尽管精确的位置控制是困难的，因为控制性能受钢丝张力平衡波动的影响。提出了原子世界与人类世界比例因子的确定方法，研究了力显示的控制算法。利用L自由度力显示装置对原子的键态进行了实验，证明了该方法的有效性。对于原子的成键状态，我们采用了经验的原子间势，对原子的行为采用了分子动力学方法。基于操作者对原子的作用力，利用分子动力学方法计算出下一时间段的原子位置。然后将下一个原子位置作为力显示装置反馈控制的理想位置。对于未来的研究，我们建议使用六自由度力显示系统进行进一步的实验。

项目成果

橋本稔: "原子世界の力覚人工現実感ーパラレルワイヤ駆動型フォースディスプレイー" ロボティクス・メカトロニクス講演会‘98講演論文集. 1BIV1-8(1)-(2) (1998)

Minoru Hashimoto：“原子世界中基于力的人工现实 - 并行线驱动力显示”机器人和机电一体化会议 98 论文集 1BIV1-8(1)-(2) (1998)。

橋本稔: "パラレルワイヤ駆動機構を用いた原子世界のハプティックディスプレイ" 第16回日本ロボット学会学術講演会予稿集. Vol.2. 775-776 (1998)

Minoru Hashimoto：“使用平行线驱动机构的原子世界中的触觉显示”日本机器人学会第 16 届年会论文集，第 2 卷 775-776（1998 年）。

Minoru Hashimoto: "Force Display for Inter-Atomic Bonds" Proc.of Third Int.Sympo.on Artificial Life, and Robotics. Vol.1. 73-76 (1998)

Minoru Hashimoto：“原子间键的力显示”Proc.of Third Int.Sympo.on Artificial Life, and Robotics。

Minoru Hashimoto: "Development of a Parallel Wire Type Force Display for Inter-Atomic Bonds" Proc.of Conf.on Robotics and Mechatronics of JME. 1BIV1-8 (1) - (2) (1998)

Minoru Hashimoto：“原子间键的平行线型力显示的开发”Proc.of Conf.on Robotics and Mechatronics of JME。

Minoru Hashimoto: "Presentation of Atomic Bonding States Using a Force Display" Proc.of Conf.on Robotics and Mechatronics of JME. Vol.A. 95-96 (1997)

Minoru Hashimoto：“使用力显示展示原子键态”Proc.of Conf.on Robotics and Mechatronics of JME。