(6 plus 1)-dimension force feedback sensing device

A transfer wheel and elbow technology, which is applied to manipulators, joints, program-controlled manipulators, etc., can solve the problems of limited force feedback output capability, small force feedback dimension, and high price, and achieve large feedback force, compact structure, and manufacturing low cost effect

Inactive Publication Date: 2011-08-17
TIANJIN POLYTECHNIC UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

At present, more successful haptic devices generally have disadvantages such as poor rigidity, limited force feedback output capability, and less dimensionality of force feedback.
In addition, most of the current force feedback haptic device power devices are placed in the link mechanism or jo

Method used

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  • (6 plus 1)-dimension force feedback sensing device
  • (6 plus 1)-dimension force feedback sensing device
  • (6 plus 1)-dimension force feedback sensing device

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Embodiment Construction

[0018] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0019] figure 1 Shown is a schematic diagram of the overall structure of the present invention. The illustrated R1, R2, R3, R4, R5, R6 and R7 describe the 6+1 joints of the present invention, wherein R1, R2 and R3 can determine the space of the tactile device Position, R4, R5, R6 constitute the wrist structure where the three axes meet, and R7 is the opening and closing joint. The relevant joints will be introduced in detail later.

[0020] The base mechanism 1-1 is a box for supporting the whole touch device, such as figure 2 As shown, the controller of the tactile device and the motor 1-2, motor 1-3, and motor 1-4 of the rod part are arranged inside, and the three motors are arranged asymmetrically. The motor 1-2, the motor 1-3, and the motor 1-4 are respectively fixed on the base mechanism 1-1 by screws. The base mechanism 1-1 is conne...

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Abstract

The invention discloses a (6 plus 1)-dimension force feedback sensing device, comprising a base, a large arm mechanism, an elbow joint mechanism, a small arm mechanism, a wrist joint mechanism and a controller, wherein wire wheels are arranged respectively at the large arm mechanism, the two ends of the elbow joint mechanism, one end of the small arm mechanism and a motor output shaft for driving the mechanisms; power is transferred to the needed positions by wire transmission in a step-by-step manner; the positions of rotating shafts of the three mechanism rod parts are respectively provided with an angle displacement sensor; the elbow joint mechanism comprises a posture realizing part and a gripper; and the posture realizing part, the gripper and a motor output shaft for driving the devices are respectively provided with a bevel gear. A motor for providing power for the large arm mechanism, the elbow joint mechanism and the small arm mechanism is arranged in the base, and motors for providing power for all posture frames of the elbow joint mechanism are arranged in the small arm and the posture frames. In the (6 plus 1)-dimension force feedback sensing device, the structure is compact, the inertia influence of the motors is less, the dimensionality of force feedback is high, the volume is small and the manufacturing cost is low.

Description

technical field [0001] The invention relates to a man-machine interface device in the field of teleoperation robot technology and virtual reality technology, in particular to a 6+1-dimensional force feedback tactile device in a teleoperation system. Background technique [0002] Since the end of the 20th century, with the rapid development and wide application of virtual reality technology and interactive teleoperation robot technology, the demand for force feedback tactile devices that can be used as human-machine interface devices has been increasing year by year, which makes the development of tactile device systems more and more be valued. The tactile device can directly control the remote robot or the robot in virtual reality through the operator's hand position information to realize remote operation. At the same time, the force signal obtained from the sensor at the end of the robot can be directly converted into force or torque to act on the human hand, so that the ...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J17/02
Inventor 孟建军贠今天刘钢李媛媛桑宏强刘国华耿冬寒
Owner TIANJIN POLYTECHNIC UNIV
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