中文摘要：

设计一种三自由度力觉主手,具有重力补偿功能.通过建立主手的拉格朗日方程完成了主手动力学模型的构建,得到了关节伺服电机的动力学附加力矩,实现主手重力补偿.建立虚拟样机,通过ADAMS动力学仿真证明计算结果正确.通过主手静平衡仿真分析,证明施加配重的必要性和重力补偿策略的有效性.

英文摘要：

A 3 - DOF haptic device with gravity compensation was designed. The dynamics model of the haptic device has been established to get the dynamics torque of the motions and obtain the gravity compensation of the haptic device with the method of Lagrange＇ s equation. Using the virtual prototyping technology, the validity of the calculation results was proved by dynamics simulations in ADAMS. The necessity of counterweight and the effectiveness of the strategy for gravity compensation were also proved by the analysis of static balance simula- tion.