【摘要】：VR技術(shù)中力反饋的加入,提高了原來單純依賴視覺和聽覺再現(xiàn)設(shè)備的人機(jī)交互的效果,使人與虛擬世界的交互更真實(shí),更可靠,近年來受到廣泛的關(guān)注。作為人機(jī)力覺交互實(shí)現(xiàn)的關(guān)鍵,力反饋設(shè)備的性能直接決定了其實(shí)現(xiàn)的效果。它能夠盡可能真實(shí)地再現(xiàn)虛擬環(huán)境中的質(zhì)量、慣量和硬度等信息,但其發(fā)展仍比較滯后,接下來的研究重點(diǎn)是如何提高力反饋設(shè)備的實(shí)用性,改善機(jī)構(gòu)機(jī)型,擴(kuò)大應(yīng)用領(lǐng)域,以期獲得更大的發(fā)展。 本文首先介紹了力反饋設(shè)備的起源、國(guó)內(nèi)外研究現(xiàn)狀和應(yīng)用領(lǐng)域,對(duì)力反饋器的工作原理進(jìn)行了闡述。針對(duì)現(xiàn)有的力反饋器的機(jī)構(gòu)類型,總結(jié)出其各自存在的優(yōu)勢(shì)和不足之處,并指出未來混聯(lián)式力反饋器將是一個(gè)新的發(fā)展方向。簡(jiǎn)要闡述了人機(jī)工程的含義、研究重點(diǎn),并深入分析了人機(jī)工程學(xué)在力反饋器設(shè)計(jì)中的應(yīng)用,設(shè)計(jì)中要充分結(jié)合人機(jī)工程學(xué),才能設(shè)計(jì)出符合“人”需要的產(chǎn)品。根據(jù)機(jī)器人學(xué)的相關(guān)知識(shí),建立了力反饋器的機(jī)械結(jié)構(gòu)與其工作空間的運(yùn)動(dòng)學(xué)方程和力的傳遞關(guān)系。 以人機(jī)工程學(xué)為指導(dǎo),以力覺交互技術(shù)在工業(yè)中的具體應(yīng)用為鋪墊,提出了力反饋器的設(shè)計(jì)要求,并根據(jù)以往力反饋器的設(shè)計(jì)資料確定了設(shè)計(jì)指標(biāo),確定出面向工業(yè)應(yīng)用的力反饋器的機(jī)構(gòu)形式并簡(jiǎn)要概述了其功能。接下來具體討論了機(jī)械傳動(dòng)方式,并進(jìn)一步實(shí)現(xiàn)了在機(jī)械結(jié)構(gòu)工程設(shè)計(jì)中的尺寸確定和選材,最終完成了一種六自由度的混聯(lián)式機(jī)構(gòu)形式的設(shè)計(jì)。該機(jī)構(gòu)由上下兩部分組成,兩部分是串聯(lián)連接,但各自又是并聯(lián)機(jī)構(gòu),這樣一來,則很好的避開了單獨(dú)使用串并聯(lián)機(jī)構(gòu)帶來的不利因素。 結(jié)合力反饋技術(shù)的虛擬拆裝技術(shù)以其特有的優(yōu)勢(shì)已越來越多的應(yīng)用在產(chǎn)品開發(fā)和維修中。本文嘗試將其應(yīng)用在印刷機(jī)械領(lǐng)域,詳細(xì)討論分析了拆裝過程中涉及到的關(guān)鍵技術(shù),包括幾何體的建模,虛擬場(chǎng)景的構(gòu)建,拆裝序列的規(guī)劃和力反饋的實(shí)現(xiàn)等幾方面,并通過實(shí)例完成了對(duì)力的繪制方法的驗(yàn)證。最后,在虛擬現(xiàn)實(shí)軟件virtools中,遵循上述關(guān)鍵技術(shù)和虛擬拆裝規(guī)劃流程,結(jié)合力覺交互的關(guān)鍵接口工具PHANTOM力反饋器,實(shí)現(xiàn)了具體的印刷機(jī)遞紙機(jī)構(gòu)的拆裝方案。
[Abstract]:With the addition of force feedback in VR technology, the effect of human-computer interaction which simply depends on visual and auditory reproduction devices is improved, and the interaction between human beings and virtual world is more real and reliable. In recent years, the interaction between human beings and virtual world has been paid more and more attention. As a key to the realization of human-machine force-sensing interaction, the performance of force feedback equipment directly determines the effect of its implementation. It can reproduce the information of mass, inertia and hardness in the virtual environment as truthfully as possible, but its development is still lagging behind. The next research focus is how to improve the practicability of the force feedback equipment, improve the mechanism model, and expand the application field. In order to obtain greater development. This paper first introduces the origin of force feedback equipment, research status and application field at home and abroad, and describes the working principle of force feedback device. In view of the existing force feedback mechanism types, the advantages and disadvantages of each mechanism are summarized, and it is pointed out that the hybrid force feedback device will be a new development direction in the future. This paper briefly expounds the meaning of ergonomics and its research emphases, and analyzes the application of ergonomics in the design of force feedback device. In the design, we must fully combine ergonomics in order to design products that meet the needs of "human". According to the knowledge of robotics, the kinematics equation and the force transfer relation between the mechanical structure of the force feedback device and its workspace are established. Under the guidance of ergonomics and the concrete application of force feedback technology in industry, the design requirements of force feedback device are put forward, and the design index is determined according to the design data of force feedback device. The mechanism form of force feedback device for industrial application is determined and its function is briefly summarized. Then the mechanical transmission mode is discussed in detail, and the size determination and material selection in mechanical structure engineering design are further realized. Finally, the design of a hybrid mechanism with six degrees of freedom is completed. The mechanism is composed of two parts, the two parts are connected in series, but each is a parallel mechanism, thus avoiding the disadvantage of using series-parallel mechanism alone. Virtual disassembly and disassembly technology based on combining force feedback technology has been used more and more in product development and maintenance with its unique advantages. This paper attempts to apply it to the field of printing machinery, and discusses in detail the key technologies involved in the process of disassembly and assembly, including the modeling of geometry, the construction of virtual scene, the planning of disassembly sequence and the realization of force feedback, etc. An example is given to verify the method of drawing counterforce. Finally, in the virtual reality software virtools, following the above key technology and virtual disassembly and assembly planning process, the key interface tool PHANTOM force feedback device is realized, which is the key interface tool of the interaction between the force and the force, and the specific disassembly and assembly scheme of the paper transfer mechanism of the printing press is realized.
【學(xué)位授予單位】：北京印刷學(xué)院
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：TH112

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