(1.School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin 300387, China;2.Tianjin Key Laboratory of Advanced Electromechanical Equipment Technology, Tianjin 300387, China)


Abstract: Aiming at the problem of insufficient preoperative training methods for temporal bone surgery, a 5DOF force feedback haptic device was designed, which has the advantages of simple structure, positionposture decoupling and selfweight balance. The gravity balance of the degrees of freedom of front and rear, right and left position could be accomplished by using a horizontally parallelogram structure. For three posture degrees of freedom, the full gravity compensation could be achieved by means of motor compensation. Thus, the complete gravity balance of the haptic device could be achieved. Based on the structural design, workspace analysis of the haptic device was performed. For the kinematic model problem of the haptic device, the forward and inverse kinematic models of the haptic device were established based on screw theory. The velocity model was established by Jacobian matrix of the haptic device, which could be obtained based on the forward kinematic model. Finally, the flexibility of the haptic device was evaluated by using Matlab to analyze and calculate the condition number. The results indicate that the haptic device can meet the needs of the workspace, which has better flexibility and higher precision. The mechanism rationality of the haptic device is verified.
Key words: temporal bone; haptic device; selfweight balance; workspace; kinematic; flexibility