基于Stewart平台的6自由度力反馈手控器

手控器是主从遥操作系统的关键设备，可以向遥操作系统传送位置、姿态、速度和力等多种信息，同时可以接收从机械手的力／力矩信息，为操作者提供力觉临场感。对基于Stewart平台的6-DOF力反馈手控器进行了总体结构设计，该装置的主体由一个6-DOF Stewart平台、电液比例控制系统及控制与检测系统等组成。介绍了系统的各部分组成、工作原理、结构特点；建立了力反馈系统，分析了实现力觉反馈的原理；推导了平台的运动学逆解、动力学正解；研究了结构尺寸与性能的关系。

Design of a Manual Controller of 6-DOF Force Feedback Based on Stewart Platform

A manual force feedback controller is a key device for a master-slave manipulation system, which provides human operator's position and orientation, velocity and force to the slave and receives force/torque from manipulator to make the operator a sense on the scene. A 6-DOF force feedback controller based on Stewart platform was designed, which consisted of a 6-DOF Stewart platform, an electro-hydraulic proportional system and a controlling and measuring system. The composition of each subsystem, the principle of force feedback and their structural feature were analyzed. The inverse solution of kinematics and the forward solution of dynamics of the platform were derived. The relationship between the structural dimensions and the performance indexes were investigated.