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透明性是力反馈主手核心性能之一,直接影响到主手的力反馈精度、运动精度,以及操作者的疲劳感。当运动速度不高时,能否减少甚至完全消除主手重力对人手的影响成为力反馈主手研制中的关键技术。文中提出了一种重力平衡方法,可以让包括位置机构与姿态机构在内的6自由度混联式主手实现完全重力平衡,具有优良的静态透明性。同时,为了应用于制造和生产,又对提出的重力平衡条件进行了误差灵敏度分析。结果表明,在众多影响因素中,杆件质量与质心位置造成的不平衡均可通过调整配重来补偿,而杆件尺寸的误差及手腕质心位置对透明性影响最大,无法通过调整配重来消除。为了减少手腕质心位置与杆件尺寸造成的影响,文中给出了杆件公差带布置方法与各公差的限制条件。试验表明,主手在理论上满足重力平衡条件以后,通过应用文中给出的结论,可在实际中很好地保证主手的重力平衡性能。
Transparency is one of the core performance of the main hand force feedback, a direct impact on the main hand force feedback accuracy, accuracy, and operator fatigue. When the movement speed is not high, the ability to reduce or even completely eliminate the impact of the main hand on the manpower becomes the key technology in the force feedback master hand. In this paper, a method of gravity balance is proposed, which can make the main hand with six degrees of freedom, including the position mechanism and attitude mechanism, achieve complete gravity balance with excellent static transparency. At the same time, in order to be used in manufacturing and production, the error sensitivity analysis of the proposed gravity balance condition is carried out. The results show that among many influencing factors, the unbalance caused by the mass and center of mass of the rod can be compensated by adjusting the weight, and the error of the rod size and the position of the centroid of the wrist have the greatest influence on the transparency, and can not be adjusted by adjusting the weight eliminate. In order to reduce the influence of centroid position and rod size on wrist, the paper presents the method of arrangement of tolerance band and the limitation of each tolerance. Experiments show that the main hand in theory to meet the conditions of gravity balance, through the application of the conclusions given in the article, in practice, can well ensure that the main hand of gravity balance performance.