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Force sense man-machine interaction device with six degrees of freedom

A technology of human-computer interaction and degree of freedom, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of large size, poor force sense fidelity, heavy weight, etc., and achieve the effect of large device rigidity, reduced inertia, and simple structure

Inactive Publication Date: 2007-07-25
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

The former mainly includes data arms and data gloves. This type of equipment is characterized by being able to track the multi-degree-of-freedom movement of the operator's arm or fingers, but it generally has the disadvantages of large size, heavy weight, and poor fidelity of force perception. It is generally used in master-slave operations of manipulators or robotic dexterous hands where realistic perception of interaction forces is required

Method used

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  • Force sense man-machine interaction device with six degrees of freedom
  • Force sense man-machine interaction device with six degrees of freedom
  • Force sense man-machine interaction device with six degrees of freedom

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Embodiment Construction

[0024] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0025] Please refer to shown in Fig. 1, the present invention is a six-degree-of-freedom force-sense human-computer interaction device, which has six degrees of freedom of motion (moving platform 3 can move horizontally, vertically, left and right, and can also rotate independently in three directions ), which can accurately track the three-dimensional translation and three-dimensional rotation information of the human hand, and at the same time enable the moving platform 3 to output a force not less than 20N and a torque not less than 550Nmm. It can be applied to most virtual reality systems and simulation fields, realize the feedback of three-dimensional force and three-dimensional torque in the virtual environment, and enhance the realism and immersion of the human-computer interaction process.

[0026] The present invention is a six-degree-of-freedom forc...

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Abstract

A 6-freedom man-machine interactive mechanism with force feeling is composed of a base, a static platform, a dynamic platform, 6 branches driven by 6 DC motors, a drive unit with a speed reducing mechanism in steel cable driving mode, and several composite ball sets. The 6 freedoms of dynamic platform can be realized by 3 composite ball set not on a same line for outputting 3D force and 3D force moment.

Description

technical field [0001] The invention relates to a parallel force-sense human-computer interaction device with six degrees of freedom, which is a force-sense mechanism capable of accurately simulating the magnitude and direction of contact force and contact torque generated by the interaction between objects in a virtual environment . Background technique [0002] In the process of human-environment interaction, the operator inputs force or motion to the environment, and the environment not only feeds back the effect to the operator in the form of visual or auditory signals, but also responds to the operator in the form of motion or force through tactile feedback. . The broad sense of touch can be divided into force sense and narrow sense of touch in terms of its signal form. Force sense usually refers to the feeling of the hardness and shape characteristics of the contacted object, and narrow sense of touch usually refers to the feeling of the texture characteristics of the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
Inventor 张玉茹曹永刚王党校马运忠
Owner BEIHANG UNIV
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