新构型六自由度手控器的设计与分析

doi:10.12305/j.issn.1001-506X.2026.11.28

系统工程与电子技术 ›› 2026, Vol. 48 ›› Issue (11): 3989-3998.doi: 10.12305/j.issn.1001-506X.2026.11.28

新构型六自由度手控器的设计与分析

郭瑶瑶¹, 董瀚林², 马志强¹, 黄攀峰¹, 刘正雄¹

1. 西北工业大学航天学院，陕西西安 710129
2. 西北工业大学自动化学院，陕西西安 710129

收稿日期:2025-08-11 修回日期:2025-12-26 出版日期:2026-10-25 发布日期:2026-05-14
通讯作者: 刘正雄
作者简介:郭瑶瑶（2002—），女，硕士研究生，主要研究方向为空间态势理解、数字孪生、人机交互
董瀚林（1993—），男，副教授，博士，主要研究方向为非线性系统控制理论、人工智能技术
马志强（1987—），男，教授，博士，主要研究方向为空间机器人星地远程人机协作的智能规划、控制与人机交互
黄攀峰（1974—），男，教授，博士，主要研究方向为空间机器人技术、遥操作技术、航天器智能控制、人机混合智能控制、集群协同控制
基金资助:
国家自然科学基金面上项目（62273280）资助课题

Design and analysis of a new 6-DOF hand controller

Yaoyao Guo¹, Hanlin Dong², Zhiqiang Ma¹, Panfeng Huang¹, Zhengxiong Liu¹

1. School of Astronautics，Northwestern Polytechnical University，Xi’an 710129，China
2. School of Automation，Northwestern Polytechnical University，Xi’an 710129，China

Received:2025-08-11 Revised:2025-12-26 Online:2026-10-25 Published:2026-05-14
Contact: Zhengxiong Liu

摘要/Abstract

摘要：

针对交互设备紧凑构型限制工作空间导致频繁复位，自由度耦合现象降低精细作业效率的问题，提出一种基于串并联复合构型的六自由度手控器。首先，通过运动学链重构与连杆参数优化完成手控器结构设计。然后，提出一种结合移轴处理与虚拟关节辅助的运动学分析方法验证设计的合理性。最后，搭建虚拟模型可视化仿真平台验证运动的协调性和连续性。试验结果表明，本手控器在实现各维度独立控制的基础上，其多自由度联动性能同样优异。相较于Touch、omega.7等市面常见设备而言，本手控器在保持同等紧凑性的同时，实现工作空间利用率（工作空间/设备体积）4倍以上的提升，为复合式串并联手控器的开发提供可参考的设计思路和技术路径。

关键词: 手控器, 运动学, 人机交互, 遥操作

Abstract:

To address the issues of restricted workspace and frequent resets caused by the compact configuration of interactive devices, as well as reduced fine-operation efficiency due to coupled degrees of freedom, a six-degree-of-freedom （DOF） hand controller utilizing a hybrid serial-parallel mechanism is proposed. First, the structural design of the hand controller is accomplished through kinematic chain reconstruction and linkage parameter optimization. Then, a kinematic analysis method integrating axis-shifting and virtual joint assistance is proposed to validate the rationality of the design. Finally, a virtual model-based visualization simulation platform is established to verify the coordination and continuity of its motion. Experimental results demonstrate that the proposed hand controller not only achieves independent control across each dimension, but also exhibits remarkably effective performance in multi-DOF coordinated motion. Compared to commercially available devices such as the Touch and omega.7, the proposed hand controller achieves an improvement more than four times in workspace utilization rate （workspace/device volume ratio） while maintaining comparable compactness, providing a valuable design paradigm and technical pathway for developing hybrid serial-parallel controllers.

Key words: hand controller, kinematics, human–machine interaction, teleoperation

中图分类号:

TP 249

郭瑶瑶, 董瀚林, 马志强, 黄攀峰, 刘正雄. 新构型六自由度手控器的设计与分析[J]. 系统工程与电子技术, 2026, 48(11): 3989-3998.

Yaoyao Guo, Hanlin Dong, Zhiqiang Ma, Panfeng Huang, Zhengxiong Liu. Design and analysis of a new 6-DOF hand controller[J]. Systems Engineering and Electronics, 2026, 48(11): 3989-3998.

图/表 20

图1

图2

图3

图4

图5

图6

图7

图8

图9

图10

图11

表1

图12

表2

手控器逆运动学方法验证"

序号	输入位姿矩阵	期望输出	实际输出（表中仅保留三位小数）	误差
1	$ \boldsymbol{T}=\left[\begin{matrix}\text{0} & \text{1.0} & \text{0} & -\text{16.0}\\-\text{1.0} & \text{0} & \text{0} & -\text{385.884\;6}\\\text{0} & \text{0} & \text{1.0} & \text{109.97}\\\text{0} & \text{0} & \text{0} & \text{1.0}\end{matrix}\right] $	[30　0　90　0　120　0]	[30.0　−3.551×10⁻²⁰　90.0　−6.157×10⁻¹¹　120.0　1.464×10⁻¹⁶]	8.8231×10⁻⁶
2	$ \boldsymbol{T}=\left[\begin{matrix}-\text{0.422\;6} & \text{0.906\;3} & \text{0} & -\text{164.904\;2}\\-\text{0.906\;3} & -\text{0.422\;6} & \text{0} & -\text{325.779\;1}\\\text{0} & \text{0} & \text{1.0} & \text{109.97}\\\text{0} & \text{0} & \text{0} & \text{1.0}\end{matrix}\right] $	[10　−25　90　0　120　0]	[10.0　−25.0　90.0　−6.157×10⁻¹¹　120.0　1.455×10⁻³]	2.1015×10⁻⁵
3	$ \boldsymbol{T}=\left[\begin{matrix}\text{0} & \text{0.969\;4} & \text{0.245\;3} & -\text{33.786\;5}\\-\text{1.0} & \text{0} & \text{0} & -\text{365.884\;6}\\\text{0} & -\text{0.245\;3} & \text{0.9694} & \text{116.171\;2}\\\text{0} & \text{0} & \text{0} & \text{1.0}\end{matrix}\right] $	[10　0　76　0　120　0]	[10.0　1.135×10⁻²⁷　76.0　−6.157×10⁻¹¹　120.0　−5.229×10⁻⁴]	1.6891×10⁻⁶
4	$ \boldsymbol{T}=\left[\begin{matrix}\text{0} & \text{1.0} & \text{0} & -\text{16.0}\\-\text{0.965\;9} & \text{0} & -\text{0.258\;8} & -\text{334.186\;1}\\-\text{0.258\;8} & \text{0} & \text{0.965\;9} & \text{20.398\;8}\\\text{0} & \text{0} & \text{0} & \text{1.0}\end{matrix}\right] $	[10　0　90　15　120　0]	[10.0　−9.626×10⁻²⁵　90.0　15.0　120.0　7.995×10⁻²⁴]	4.2352×10⁻⁵
5	$ \boldsymbol{T}=\left[\begin{matrix}\text{0} & \text{1.0} & \text{0} & -\text{16.0}\\-\text{1.0} & \text{0} & \text{0} & -\text{365.884\;6}\\\text{0} & \text{0} & \text{1.0} & \text{289.97}\\\text{0} & \text{0} & \text{0} & \text{1.0}\end{matrix}\right] $	[10　0　90　0　60　0]	[10.0　−3.29×10⁻⁴⁰　90.0　−6.16×10⁻¹¹　60.0　3.0×10⁻³⁹]	1.4452×10⁻³
6	$ \boldsymbol{T}=\left[\begin{matrix}\text{0} & \text{1}.\text{0} & \text{0} & -\text{171.884\;6}\\-\text{1.0} & \text{0} & \text{0} & -\text{275.884\;6}\\\text{0} & \text{0} & \text{1.0} & \text{109.97}\\\text{0} & \text{0} & \text{0} & \text{1.0}\end{matrix}\right] $	[10　0　90　0　120　−60]	[10.0　−1.58×10⁻³⁹　90.0　−6.16×10⁻¹¹　120.0　−60.0]	1.0393×10⁻⁵
7	$ \boldsymbol{T}=\left[\begin{matrix}\text{0.358\;4} & \text{0.836\;5} & -\text{0.414\;5} & -\text{24.162\;5}\\-\text{0.839\;6} & \text{0.483} & \text{0.248\;7} & -\text{364.129\;9}\\\text{0.408\;2} & \text{0.258\;8} & \text{0.875\;4} & \text{213.820\;4}\\\text{0} & \text{0} & \text{0} & \text{1.0}\end{matrix}\right] $	[35　30　105　−25　110　−60]	[35.001　30.001　105.001　−25.0　109.999　−60.001]	7.2854×10⁻⁵

表2

图13

表3

图14

图15

图16

图17

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i	$ {a}_{i-1} $/mm	$ {\alpha }_{i-1} $/（°）	$ {d}_{i} $/mm	$ {\theta }_{i} $/（°）	关节变量范围/（°）
1	0	90	d₁	0	[0, 160]
2	0	−90	184.47	θ₂	[−30, 30]
3	0	90	0	θ₃	[−30, 210]
4	0	90	33	θ₄	[0, 90]
5	0	0	−41.5	θ₅	[−90,0]
5’	180	90	0	90	—
5’’	−7.5	−（θ₅−90）	15.5	−90	—
6	20	0	0	θ₆	[−45,45]
6’	180	0	0	−θ₆	—

设备规格	Touch	omega.7	本手控器
构型描述	串联式	并联式	串并联
构型描述	串联式	并联式	复合式
设备外廓尺寸/mm	203	350	180
	168	300	170
	280	400	335
工作空间/mm	431	$ \varnothing $160	550
	348	$ \varnothing $160	500
	165	110	400
工作空间体积/cm³	24748	2210.56	11000
工作空间体积/设备体积	2.5917	0.0526	11.8037

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新构型六自由度手控器的设计与分析

Design and analysis of a new 6-DOF hand controller

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