NDLI: The generalized interactive force calculation for the helmet mounted display with the 6URHS parallel manipulator

Content Provider	IEEE Xplore Digital Library
Author	Peng Li Dongsu Wu
Copyright Year	2015
Description	Author affiliation: Center of Flight Simulation & Adv. Training Eng. Technol., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China (Dongsu Wu) \|\| Coll. of Automobiles & Traffic Eng., Nanjing Forestry Univ., Nanjing, China (Peng Li)
Abstract	The method based on the dynamic model to calculate the generalized interactive force between the user's head and the 6URHS parallel manipulator is proposed to validate the feasibility of the active compliance control strategy. Firstly, the dynamics pertaining to arbitrary leg of the 6URHS parallel manipulator are investigated, and dynamic equations for the leg are derived. Secondly, the dynamic analysis for the sensor group which is a part of the leg and made up of a sensor and the upper part of the spherical joint is developed, and Newton equations for the sensor group are also presented. Thirdly, the relationship expressions about the driving torques of the 6URHS parallel manipulator and the sensor feedbacks are obtained by means of combining the dynamic equations for the legs with the sensor groups. Finally, based on the dynamic model of the 6URHS parallel manipulator and the relationship expressions above, the formula for calculating generalized interactive force is proposed; both simulation and experiment are implemented, simulation results show that the feasibility and the accuracy of the proposed method are better, and the practicability of the method and the performance of the active compliance control strategy are proved to be fine with the experimental results.
Starting Page	362
Ending Page	368
File Size	585360
Page Count	7
File Format	PDF
e-ISBN	9781467376822
DOI	10.1109/FSKD.2015.7381969
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Dynamics Fasteners Lead generalized interactive force helmet mounted display Stewart platform parallel manipulator Mathematical model dynamic model Manipulator dynamics force and torque sensor
Content Type	Text
Resource Type	Article

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