Force feedback interactive device for automatically regulating balance of dead weight

Abstract

The invention discloses a force feedback interactive device for automatically regulating the balance of a dead weight, which is formed by a base mechanism, a shoulder mechanism, a big arm mechanism, a forearm mechanism, a wrist mechanism, an end effector mechanism, an automatic regulating and balancing mechanism, four direct current motors, four photoelectric encoders, three high-precision angular potentiometers and the like. In the invention, the direct current motors and a linear speed reduction mechanism are matched to provide three freedom degree force feedbacks and six motion freedom degrees of the three freedom degree force feedbacks by three photoelectric encoders and the three angular potentiometers. For the automatic regulating and balancing mechanism, one direct current motor is adopted to drive and control a balancing sliding block to automatically carry out dead weight compensation on the arm mechanisms of the equipment in real time by a speed reduction device, so that the manual fatigue is effectively reduced. The mechanism has compact design, large working space range, high rigidity and large range of a feedback force.

Description

technical field [0001] The present invention designs a force feedback interaction device with self-weight of the self-adjusting mechanism, which provides six degrees of freedom of motion and three degrees of freedom force feedback, and can be used in a virtual environment or a master-slave remote operation environment to realize force feedback interaction , to accurately simulate the force / tactile magnitude and direction during the interaction. Background technique [0002] Introducing human intelligence factors such as decision-making and judgment into robot systems to design fully autonomous intelligent machines is the goal of relevant scientific research and technical personnel. Unfortunately, due to the limitations of artificial intelligence, sensing technology, computer technology, mechanical design and manufacturing, and control theory, it is difficult to realize fully autonomous intelligent robots in the foreseeable period. In order to improve the decision-making abi...

AI Technical Summary

Problems solved by technology

However, there are many defects in the above-mentioned disclosed inventions or applied for invention patents: complete gravity compensation is not performed, gravity compensation is indispensable in force feedback equipment, if the mechanical arm of the force feedback equipment does not perform its own gravity compensation, When the force feedback interaction is performed in a virtual environment or a remote operation environment, the human hand can not only feel the feedback force, but also feel the gravity of the mechanical arm of the force feedback device.

Since gravity and feedback force act together on the human hand, the combined force felt by the human hand must not be the real feedback force; the system itself has poor stiffness; the feedback force provided is limited; the materials used are more special and the equipment is expensive

The above-mentioned series of defects have led to other defects: limited application occasions or environments, poor versatility of equipment, and inconvenient disassembly, maintenance and replacement of parts when equipment fails

In addition, the above-mentioned equipment also has the problem of technological monopoly

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