Six-degree of freedom parallel mechanism based on different radii

Abstract

The invention relates to a six-degree of freedom parallel mechanism based on different radii. The six-degree of freedom parallel mechanism comprises a static platform, a movable platform, six support frames, six upper spherical hinges, six lower spherical hinges, six direct-current motors, six branched chains and an operating rod, wherein the six support frames are fixedly connected with the static platform at the preset position; the six direct-current motors penetrate through holes in the support frames respectively and are connected with lower connecting rods of the six branched chains; upper connecting rods of the six branched chains are connected with the movable platform by the six upper spherical hinges; the upper and lower connecting rods of the six branched chains are connected with each other by the six lower spherical hinges; and the operating rod is connected with a through hole of the movable platform. According to the six-degree of freedom parallel mechanism, each branched chain can determine the spatial position of each spherical hinge on the movable platform, so that six degrees of freedom of motion of the platform can be realized by the six spherical hinges which are non-collinear; and three-dimensional force and three-dimensional moment are outputted on the movable platform, so that an interactive feeling that the three-dimensional force and the three-dimensional moment are the same as virtual force and virtual moment in virtual environment is provided for people. The six-degree of freedom parallel mechanism is force sense interactive equipment which is novel in configuration, simple in structure and high in performance.

Description

1. Technical field: [0001] The present invention relates to a six-degree-of-freedom parallel mechanism based on different radii, in particular to a parallel-connected force-sense human-computer interaction device with six degrees of freedom, which is a device capable of accurately simulating the interaction between objects in a virtual environment. A force-sensing mechanism for the size and direction of the contact force and the contact force distance generated. The invention belongs to the technical field of force-sense human-computer interaction equipment. 2. Background technology: [0002] In the process of human-environment interaction, the operator inputs force or motion to the environment, and the environment not only feeds back the effect to the operator in the form of visual or auditory signals, but also responds to the operator in the form of motion or force through tactile feedback. . The broad sense of touch can be divided into force sense and narrow sense of to...

AI Technical Summary

Problems solved by technology

The former mainly includes data ratios and data gloves; this type of equipment is characterized by being able to track the multi-degree-of-freedom movement of the author's arm or fingers, but it generally has the disadvantages of large size, heavy weight, and poor fidelity of force perception. In the occasion of realistic perception of interaction force, it is generally used for master-slave operation of mechanical arm or robot dexterous hand

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