| 摘要 |
A manipulator (26) for controlling force and position of a retained device (22) is disclosed. Various construction details are disclosed that provide a manipulator (26) which is back driveable and which provides planar control of both force and position of the device relative to an object being worked on. In a particular embodiment, the manipulator (26) includes an actuator assembly (46) having two pairs of voice coils (58, 59), a housing (56) gimbaled to a frame (45) and engaged with the actuator assembly (46) through a universal joint (54), and a tool (22) retained in a distal end of the housing (56). Excitation of the voice coils (58, 59) produces a planar force on the joint (54). Movement of the joint (54) results in pivoting of the housing (56) about the gimbal (76) and spherical motion of the device. In a further embodiment, the manipulator (26) includes a body (57) gimbaled to the housing (56) and a plurality of force transducers (82) disposed about the body (57) and between the body (57) and housing (56). Forces on the device may be measured by the response of the transducers (82). In another embodiment, the manipulator (26) includes a plurality of position sensors (114, 116) disposed about the gimbal (76) and between the housing (56) and frame (45). The plurality of position sensors (114, 116) respond to pivoting motion of the housing (56) such that the position of the device (22) may be monitored. |
