1、学位授予单位大连海事大学申请学位级别工学硕士学科(专业)机械电子工程论文完成日期答辩日期答辩委员会主席Design and Research of a New Type of Pneumatic Force Feedback Data Glove A thesis Submitted toDalian Maritime UniversityIn partial fulfillment of the requirements for the degree ofMaster of EngineeringByDu Hongwang(Mechatronic Engineering) Thesis Su
2、pervisor: Professor Wang Zuwen May 2010大连海事大学学位论文原创性声明和使用授权说明原创性声明本人郑重声明:本论文是在导师的指导下,独立进行研究工作所取得的成果,撰写成博/硕士学位论文 “ 新型气动力反馈数据手套的设计与研究 ” 。除论文中已经注明引用的内容外,对论文的研究做出重要贡献的个人和集体,均已在文中以明确方式标明。本论文中不包含任何未加明确注明的其他个人或集体已经公开发表或未公开发表的成果。本声明的法律责任由本人承担。学位论文作者签名:学位论文版权使用授权书本学位论文作者及指导教师完全了解大连海事大学有关保留、使用研究生学位论文的规定,即:大连海
3、事大学有权保留并向国家有关部门或机构送交学位论文的复印件和电子版,允许论文被查阅和借阅。本人授权大连海事大学可以将本学位论文的全部或部分内容编入有关数据库进行检索,也可采用影印、缩印或扫描等复制手段保存和汇编学位论文。同意将本学位论文收录到中国优秀博硕士学位论文全文数据库(中国学术期刊(光盘版)电子杂志社)、中国学位论文全文数据库(中国科学技术信息研究所)等数据库中,并以电子出版物形式出版发行和提供信息服务。保密的论文在解密后遵守此规定。本学位论文属于: 保 密 在 年解密后适用本授权书。 不保密 (请在以上方框内打“” )论文作者签名: 导师签名:日期: 年 月 日中 文 摘 要学位论文原创
4、性声明所呈交的论文是本人在导师的指导下独立进行研究所取得的研究成果。除了文中特别加以标注引用的内容外,本论文不包含任何其他个人或集体已经发表或撰写的成果作品。对本文的研究做出重要贡献的个人和集体,均已在文中以明确方式标明。本人完全意识到本声明的法律后果由本人承担。作者签名: 日期:本学位论文作者完全了解学校有关保留、使用学位论文的规定,同意学校保留并向国家有关部门或机构送交论文的复印件和电子版,允许论文被查阅和借阅。本人授权 大学可以将本学位论文的全部或部分内容编入有关数据库进行检索,可以采用影印、缩印或扫描等复制手段保存和汇编本学位论文。涉密论文按学校规定处理。 日期:导师签名: 日期:摘
5、要虚拟现实是利用计算机模拟建立的三维空间的虚拟场景,结合外围人机交互设备,给予操作者视觉、听觉、力觉和触觉等各个感官的模拟,使操作者如同身临其境,可以如同现实一样去感知三维空间的事物及其特性。虚拟现实的三大特性是:沉浸感、交互性和构想性。人实际认识事物很大程度上是通过人手来实现的,因此研究人手与虚拟场景的交互操作是非常重要的,为了增强人手与虚拟场景的沉浸感和交互性,操作者借助的外围接口设备显得很关键。本文研究的重点就是在对现有力反馈数据手套进行研究和分析的基础之上,研制了一种基于低摩擦气缸为驱动器的新型力反馈数据手套,设计的力反馈数据手套样机具有输出力大、摩擦力小和重量轻等特点,并且能够较好地
6、实现力反馈数据手套关节角度测量和反馈力输出这两大通用功能。首先,以人手骨骼模型为出发点,分析人手的运动特性,建立了人手运动简图模型。探讨了力反馈数据手套控制的对象虚拟手模型的建立方法、碰撞检测算法、抓取技术和虚拟力计算。其次,通过选用低摩擦气缸作为驱动器和相关机械结构的设计,研制了一种新型力反馈数据手套。通过研究角度传感器和位移传感器的原理,设计了人手-手套整体的姿态间接测量方法。然后,针对所设计的力反馈数据手套进行量化分析。建立了人手-手套整体的运动学模型,得到并求解其运动学方程组,以实现位姿反馈。设计了气动回路,得到力反馈的控制模型。同时,对设计的力反馈数据手套的性能参数:重量、摩擦力和运
7、动范围进行了评估和计算。最后,针对设计的力反馈数据手套设计了实验系统,进行了低摩擦气缸静特性、人手关节角度测量和力反馈控制三个实验,得到了手套驱动器输出力的计算公式、人手弯曲时关节角度的变化曲线和模拟虚拟操作时的力触觉功能。关键词:虚拟现实;力反馈;数据手套;角度测量英 文 摘 要ABSTRACTVirtual Reality is giving simulation of the operators vision, hearing and feeling by making use of the three-dimension virtual scene in the computer an
8、d with the help of human-interaction equipment, so that the operator seems have self participation to perception the three-dimensions things and their features as reality. Virtual Reality has three characteristics: Immersion, Interaction and Imagination. Actually, people acknowledge things by hands
9、at most time, so it is very important to research interaction between the hand and virtual scene. Therefore, the human-interaction equipment plays a key role in the interaction, so as to enhance the immersion and interaction.The main point of this paper is design a new type of force feedback data gl
10、ove, which using low-friction cylinders as its actuator, on the base of research on existing data gloves at home and abroad. The glove has three characteristics with big output force, low-friction and light weight. Whats more, the glove realized common gloves two functions very well, which is joint
11、measurement and feedback force output.First, the hands kinematics characteristics are analyzed on the base of the hand skeleton model, so that it gains kinematics diagram. Then, it investigates establishing method, collision detection algorithm , grasp technology and virtual force calculation of the
12、 virtual hand model, which is controlled by the force feedback data glove.Secondly, a new type of force feedback data glove has been designed via choosing low-friction cylinder and designing mechanical structure. And, a joint measurement method has been designed via investigation on the principle of
13、 the angle sensor and the translation sensor.Then, quantitative analysis has been made on the designed glove. Kinematics model has been established on hand-glove to gain the kinematics equations and its solution, so as to realize the hand position feedback. The force feedback control model has been
14、established via design proper pneumatic circuit. Meanwhile, estimation and calculation have been made on the glove property parameters, which are weight, friction and range of motion.Finally, experimental system has been designed on the glove to do three experiments, which are low-friction cylinder
15、static characteristic, hand joint measurement and force feedback control, and it gains calculation formula of the glove actuator, hand joint change curve with hand bending and simulating force haptic with virtual operation. Key Words: Virtual Reality; Force Feedback; Data Glove; Joint Measurement第1章 绪论1.1 课题背景及意义虚拟现实(Virtual Reality),简称VR,是上世纪九十年代出现的高新技术。单独来看,“虚拟”与“现实”二者是矛盾的,虚拟现实是利用计算机模拟建立的三维空间的虚拟场景,并结合外围人机交互设备,给予操作者视觉、听觉、
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