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

本研究的目的是开发和应用一个高度通用的，小型和高性能的触觉接口。具体而言，它是实现一个紧凑的6自由度触觉接口设备具有广泛的工作空间和响应带宽，实现一个高度通用的控制设备具有非常简单的接口，为各种计算系统，并应用这种触觉接口设备的空间遥操作。本研究的结果可归纳如下.建立了并联机构刚度随结构参数变化的分析模型。利用该模型，可以容易地预测由于结构参数的变化而引起的并联结构的刚度的变化。因此，它成为可能，以优化这种触觉接口从刚度的观点。2.设计了刚度有较大提高的力觉交互界面，并开发了原型系统。在上述分析模型的支持下，并沿着迄今为止的原型设计经验基础，实现了触觉接口的成功设计和原型设计，其特性大大优于迄今为止开发的原型。它还计划在互联网上分享这个新的触觉界面原型的工程图纸。3.将空间遥操作作为该力觉接口的一个应用，进行了研究。利用该触觉接口，对工程试验卫星VH（ETS-VII）的机械臂进行了遥操作实验，验证了其重量轻、运动范围大的特点。此外，双臂机器人系统开发的空间遥操作的地面实验装置，并采用这种触觉接口的主设备，因此它的有用性，该系统的地方。

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.