Device and method for outputting adjustable feedback force

Abstract

The invention discloses a device for outputting adjustable feedback force. The device comprises a power source, a transmission mechanism, spiral drawing springs and detecting elements, wherein the power source is a servo motor; the transmission mechanism mainly comprises an operating tail end, steel wire ropes, transmission wheels and a speed reducer; the transmission wheels comprise a driving wheel and a driven wheel; the two spiral drawing springs are completely same in rigidity and initial length; the detecting elements comprise two encoders; the device adopts the steel wire ropes for transmission; the two steel wire ropes are respectively wound on the two transmission wheels and are fixedly connected with the transmission wheels; the two ends of the steel wire ropes are respectively connected with the two spiral drawing springs; the driving wheel is fixedly connected with the operating tail end; the driven wheel is fixedly connected with the output end of the speed reducer; and the two encoders are respectively connected with the driving wheel and the servo motor and are used for detecting the rotating angle of the driving wheel and a motor shaft. The device is reliable in working, can output larger feedback force, can be integrated in various driving simulators for simulating the operating force when in driving transport means such as automobiles, ships and planes and the like and is used for driving training or entertainment.

Description

technical field [0001] The invention relates to a device and method for outputting adjustable feedback force, is a force-sense interaction scheme, and belongs to the field of force-sense interaction equipment. Background technique [0002] Human-computer interaction technology studies the method of two-way information exchange between human and machine (computer). There are many ways for human beings to communicate with the outside world. The human body mainly communicates with the outside world through sensory information channels such as vision, hearing, touch, taste and smell. [0003] Human-computer interaction technology is to study how to use these perceptions to better realize the natural communication between humans and machines. Eighty percent of the information that humans obtain from the outside world is obtained through vision and hearing. At the same time, due to the limitations of computer technology and sensor technology, the research content in the field of ...

AI Technical Summary

Problems solved by technology

The traditional impedance control method achieves the purpose of controlling the output torque of the DC motor by controlling the current of the DC motor. Under this method, the output torque of the DC motor is extremely limited. Although increasing the transmission ratio of the equipment can increase the output torque of the power source, the transmission The increase of the ratio leads to the increase of the inertia of the equipment. When the equipment is required not to output feedback force, the operator will feel a greater reverse driving force when pulling the end of the operation. Therefore, the existing impedance control method cannot simulate a large output force.

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