Parallel four-bar type structure decoupling six-dimension force feedback device

A technology for decoupling six-dimensional force and parallel four rods, which is applied in the field of decoupling six-dimensional force feedback devices with parallel four rod structures, can solve problems such as force feedback devices with six-dimensional unconditional decoupling that have not yet appeared, and achieve unmatched working space. Restricted, easy-to-control effects that work reliably

Inactive Publication Date: 2010-08-18
SHANGHAI JIAO TONG UNIV
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  • Description
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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

Method used

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  • Parallel four-bar type structure decoupling six-dimension force feedback device
  • Parallel four-bar type structure decoupling six-dimension force feedback device
  • Parallel four-bar type structure decoupling six-dimension force feedback device

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Embodiment Construction

[0025] The technical scheme of the present invention will be further described below in conjunction with the accompanying drawings.

[0026] Fig. 1 is the overall structure diagram of the present invention. As shown in Figure 1, the decoupled six-dimensional force feedback device with a parallel four-bar structure designed in the present invention is composed of a fixed base 1, a three-degree-of-freedom parallel moving unit, and a three-degree-of-freedom parallel-connected rotating unit. The three-degree-of-freedom parallel mobile unit is composed of three mutually orthogonal branches, and each branch is composed of a mobile guide drive 2 , a short link 3 and a long link 4 . The configuration of the mobile guide drive 2 is a parallel four-bar, and is driven by a built-in mobile drive motor. Three sets of mobile guide drives 2 are fixed on the fixed base 1 orthogonally to each other; one end of the short connecting rod 3 is driven by the mobile guide 2 guide, and the other end...

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Abstract

The invention discloses a decoupling 6D force feedback device of a parallel four-rod type structure. The device is used for exactly simulating strength and direction of contact force and contact torque generated by interaction among objects in a virtual environment to realize man-machine force sense interactive perception. The device is composed of a fixed base, a three-degree-of-freedom parallelmobile 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 composed of a mobile guide drive, a short connecting rod and a long connecting rod; the three-degree-of-freedom parallel-serial rotation unit is composed of a rotation base, a two-degree-of-freedom spherical parallel decoupling rotation mechanism, a serial shaft and a moving platform, all moving auxiliary axes intersect at the center of the moving platform and are mutually orthogonal. The devicecan 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 parallel four-bar structure decoupling six-dimensional force feedback device, which is used for accurately simulating the magnitude and direction of the contact force and contact moment generated by the interaction between objects in a virtual environment, so as to realize the interactive perception of man-machine force sense , belonging 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 a ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J3/00B25J9/16
Inventor 高峰金振林赵现朝田兴华张勇郭为忠
Owner SHANGHAI JIAO TONG UNIV
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