(6 plus 1)-dimension force feedback sensing device

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 drivingthe 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 providedwith 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 forproviding 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 ...

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 joints, which is not conducive to its own balance, and the main research technology of the haptic device is monopolized by foreign countries, which is expensive, so it can independently It is of great significance to develop a haptic device with 6+1 dimensional force feedback and self-balancing

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