中文摘要：

力觉交互是提高手术仿真培训系统逼真度的有效途径之一,如何设计出满足系统性能要求的力觉交互设备对手术仿真系统的开发至关重要。从设计案例出发,讨论了面向任务的力觉交互设备设计方法。先分析牙科手术模拟器对力觉交互设备的性能需求,发现现有商用力觉交互设备不能满足牙科手术仿真对高刚度和大转动工作空间的要求,因而提出一种新型6自由度力觉交互设备的机构方案,采用并联3-RRC机构与串联3R机构的组合,达到了兼顾高刚度和大转动工作空间的目的。物理样机试验表明该设备的工作空间、最大输出力和虚拟刚度等指标均达到设计要求。

英文摘要：

Interaction force sense is an effective way to improve the fidelity of the simulation training system.How to design the interaction force sensing devices which can satisfy the requirement of the system performance is important for surgery simulation system development.From the design case,the design method of force sensing task oriented interactive devices is discussed.The dental surgery simulator of force sensing interactive equipment performance requirements is analyzed.It indicate that the existing commercial force sensing interactive equipment cannot satisfy the dental surgery simulation for high rigidity and large rotating work requirements of the space,thus a new kind of 6 DOF mechanism scheme of force sensing interactive equipment is put forward,3-RRC parallel mechanism with the combination of 3R institutions is used,so high rigidity and large rotating work space are get.Physical prototype test shows that the equipment work space,maximum output force and virtual stiffness indexes meet the design requirements.