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According to the design requirements that the operating rod should provide a sensing capability to make the operator at the remote end be personally on the scene, in this paper, we propose a force feedback operating rod equipped with 3-RRR spherical parallel mechanism as the basic configuration by analyzing the configuration of a variety of operating rods. Through the analysis of the forward and inverse kinematics and statics of the 3-RRR spherical parallel mechanism, we determined the force / torque mapping calculation method of the static calculation, joint space and operation space of the force feedback operating rod. On this basis, taking the mechanism dexterity determined by Gosselin method as an indicator, we integrated the size of force feedback operating rod of 3-RRR mechanism. Finally, through the simulation analysis of the force transmission performance, we proved that the mechanism has good torque-isotropic degree in the middle area of the working space, so as to determine the task space of the force feedback operating rod.

Configuration design and performance analysis of a force feedback operating rod based on 3-RRR spherical parallel mechanism