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Force feedback type master manipulator with deadweight balance property

A main manipulator and force feedback technology, applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of limited application range, small working space, limited force feedback, etc., to overcome backlash, low manufacturing cost, and large feedback force Effect

Active Publication Date: 2011-03-30
SHANDONG WEIGAO SURGICAL ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the PHANToM system, there are defects such as poor system rigidity and limited force feedback provided, which limit its application range; for the Omega system, its mechanism occupies a large volume and a small working space. and cannot achieve gravity balance by itself
In addition, the above two main operators still have the problems of high price and technology monopoly
Other main operating systems that exist are mostly developed according to specific application environments, have poor versatility, and also have a series of technical problems

Method used

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  • Force feedback type master manipulator with deadweight balance property
  • Force feedback type master manipulator with deadweight balance property
  • Force feedback type master manipulator with deadweight balance property

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Embodiment Construction

[0025] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0026] figure 1 , figure 2 Shown is a schematic diagram of the overall structure of the present invention, illustrated R1, R2, R3, R4, R5, R6, R7, describe the seven joints of the present invention, wherein R1, R2, R3 is the space for realizing the main operator For position adjustment, R4, R5, and R6 form a wrist structure with three axes intersecting at one point, and R7 is an opening and closing joint. Each joint will be introduced in detail in the following content. figure 2 Described are the various components of the present invention, including the base supporting mechanism 1 , the boom mechanism 2 , the elbow mechanism 3 , the forearm mechanism 4 , and the wrist mechanism 5 .

[0027] The base supporting mechanism 1 is a box body, which is used to support the whole main operator system, and the controller of the main operator can ...

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Abstract

The invention discloses a force feedback type master manipulator with deadweight balance property, comprising a big arm mechanism, a small arm mechanism, an elbow joint mechanism, a wrist joint mechanism and a controller. The big arm mechanism, the small arm mechanism and the elbow joint mechanism respectively comprise connecting rods and rotating input mechanisms provided with rotating shafts; one end of the connecting rod of the big arm mechanism, one end of the connecting rod of the small arm mechanism and the rotating shafts of the connecting rods are respectively provided with wire wheels connected through transmission wires; the rotating shafts of the connecting rods of the big arm mechanism, the small arm mechanism and the elbow joint mechanism are respectively connected with potentiometers; the rotating shaft of the small arm mechanism is rotatably connected with a first flange; the first flange is connected with a side end surface of the connecting rod of the elbow mechanism;the rotating shaft of the elbow mechanism is rotatably connected with a second flange; the second flange is fixedly connected with a wire wheel shaft at the rod end of the connecting rod of big arm mechanism; and the wrist joint mechanism is connected with the wire wheel shaft of the wire wheel arranged at the rod end of the connecting rod of the small arm mechanism. The force feedback type master manipulator has the advantages of compact structure, high rigidity, large feedback force, small volume and low manufacture cost.

Description

technical field [0001] The invention relates to an input device in the field of master-slave robots or virtual reality, which can realize human-computer interaction; in particular, it relates to a force-feedback master operator used in a medical robot system. Background technique [0002] Since the 1990s, with the rapid development and wide application of virtual reality technology and master-slave medical robot technology, the development of the master operator system as an input device has been paid more and more attention. The device is a special robotic mechanism that can directly interact with the operator on motion information and force sensation. At present, the relatively successful main operator systems mainly include the PHANToM series main operators of the American Sensable Company and the Omega series main operators of the Swiss ForceDimension. For the PHANToM system, there are defects such as poor system rigidity and limited force feedback provided, which limit...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J3/00B25J17/00B25J13/00
Inventor 王树新李建民张林安李进华
Owner SHANDONG WEIGAO SURGICAL ROBOT CO LTD
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