Sliding block type structure decoupling six-dimension force feedback device

Abstract

The invention discloses a decoupling 6D force feedback device of a sliding block type structure. The device is composed of a fixed base, a three-degree-of-freedom parallel mobile unit, and a three-degree-of-freedom parallel-serial rotation unit, wherein, the three-degree-of-freedom parallel mobile unit comprises three mutually orthogonal branches, each of the branches is guided to a sliding block by a column guide rail driven by a mobile drive motor, a double-link end is articulated with the sliding block, and the other end is connected with a rotation base by a U-shaped block, the three-degree-of-freedom parallel-serial rotation unit are driven by three rotary drive motors, the rotation base is respectively connected with a first arc rod and a third arc rod by a support hinge A and a support hinge B, the first arc rod is connected with a transfer platform by a long shaft, a second arc rod is connected with the transfer platform by a mid-length shaft, the third arc rod is connected with the second arc rod by a short shaft, and the transfer platform is in serial connection with a moving platform. The device can achieve unconditional decoupling with six degrees of freedom, and has the advantages of simple structure, easy control, high movement accuracy, lower cost and the like.

Description

technical field [0001] The invention relates to a decoupling six-dimensional force feedback device with a slider type structure, which is used for accurately simulating the magnitude and direction of the contact force and contact torque generated by the interaction between objects in a virtual environment, so as to realize the interactive perception of human-machine force sense, It belongs to the field of robotics in mechanical engineering. Background technique [0002] Force-sensing interaction, also known as tactile reproduction, is a technology that originated from robot master-slave operation and teleoperation. Its purpose is to provide force-sense information to operators in different places and simulate their on-the-spot operation perception to improve operation quality and efficiency. In recent years, force sense reproduction technology has developed rapidly in the field of virtual reality and has become a new computer-human-computer interaction method. When operating...

AI Technical Summary

Problems solved by technology

Through literature search and analysis, no matter in the field of macro motion or in the field of micro motion, there is no force feedback device with six-dimensional unconditional decoupling

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