基于主从微操作系统夹持力反馈机构的设计建模与分析

Design Modeling and Analysis of Clamping Force Feedback Mechanism Based on Master-Slave Micro-Operating System

摘要: 为了提高主从操作系统的操作精度以及增强临场感和跟随性，本文以主从式微操作系统为研究对象对力反馈部分进行设计并进行建模分析以及实验验证。首先以课题组研发的主从式微操作系统为对象并对主端外骨骼手力反馈部分进行设计，确定通过对主端外骨骼手增设电机细绳及弹簧的模块化设计。其次，以主从运动模式对系统进行分析并建立模型来实现夹持力反馈。通过适应主从微操作的特性将整个操作过程分为力跟随与力反馈两个部分并进行空间域内的运动分析，找出各个参数之间与运动过程的映射关系以实现力跟随部分的与力反馈的匹配运动。最后，通过单指实验验证了力跟随建模的良好适应性。

Abstract: In order to improve the operational precision, immersion, and responsiveness of a master-slave operation system, this paper focuses on the design, modeling, and experimental validation of the force feedback component of a master-slave micro-operation system. Initially, the force feedback component of the master exoskeleton hand, developed by the research team, was designed by adding a modular design with motors, fine cables, and springs. Subsequently, the system was analyzed using the master-slave motion model, and a model was established to achieve gripping force feedback. The entire operation process was divided into force following and force feedback components, with spatial domain motion analysis conducted to identify the mapping relationships between various parameters and the motion process, ensuring the coordination between force following and force feedback. Finally, the adaptability of the force-following model was validated through single-finger experiments.