The invention discloses a general type six-dimension force sense
interaction device with seven freedom degrees. The device is composed of a Z axis rotation substrate, a
shoulder joint mechanical arm, an
elbow joint mechanical arm, a bias spherical
wrist holding mechanism, a six-dimension
force sensor and drive motors. The
shoulder joint mechanical arm is installed on the Z axis rotation substrate through a revolute pair, the
elbow joint mechanical arm is installed at the
tail end of the
shoulder joint mechanical arm, the bias spherical
wrist holding mechanism is fixed at one end of the
elbow joint mechanical arm, the six-dimension
force sensor is fixed on the holding mechanism, and the seven freedom degrees of the
interaction device respectively exert feedback force through seven sets of drive motors. An operator achieves complex interactive operation through the bias spherical
wrist holding mechanism. The general type six-dimension force sense
interaction device with the seven freedom degrees is simple in structure, flexible in operation, free of singular points in mechanism motion, simple in mechanical
kinetic model and convenient to control, and moreover, a U-type support at the elbow can reduce fatigue of the operator and increase comfort of the operation.