力反馈装置不仅需要实现静平衡,同时还要降低惯性提高动态透明性。文中采用弹簧补偿重力不平衡力矩的方式,改进了主手2,3关节的平衡结构,实现了主手在各种位形下的自主平衡。对改进方案的效果验证表明,在有效工作空间中各关节残余重力矩不超过4%,工作空间中各点的不平衡力小于0.1 N,主手的惯性力减小了71.2%,很大程度上提高了主手的动态性能。 Force feedback devices not only need to achieve static balance, but also reduce the inertia to improve dynamic transparency. In this paper, the spring compensates for the unbalanced moment of gravity, which improves the balance structure of the main hand and the second hand and realizes the autonomous balance of the main hand under various positions. The validation of the improved scheme shows that the residual moment of each joint in the effective working space does not exceed 4%, the unbalance force of each point in the working space is less than 0.1 N, and the inertial force of the main hand decreases by 71.2% On the main hand to improve the dynamic performance.