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Novel six-freedom-degree force feedback device

A degree of freedom and force feedback technology, applied in the field of robotics, can solve the problems of small range of rotation angle at the end of the operation, small maximum virtual stiffness, etc., to achieve the effect of convenient and quick replacement, large simulation stiffness, and easy motion control.

Inactive Publication Date: 2012-10-10
BEIHANG UNIV
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Problems solved by technology

[0002] Traditional force-sense interaction devices use parallel or series mechanisms, in which parallel connections can achieve large output force and high virtual stiffness, but the range of rotation angle at the end of the operation is small; series mechanisms can achieve a large working space, but the maximum virtual stiffness that can be achieved is relatively small. Small

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  • Novel six-freedom-degree force feedback device

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Embodiment Construction

[0019] The invention will be further described in detail below in conjunction with the accompanying drawings.

[0020] A novel 6-DOF force feedback device of the present invention, such as figure 1 As shown, it consists of base plate (1), parallel 3RRC mechanism (drive module (2), RC link branch chain (3), moving platform (5)) and rotating mechanism (6). The position connection relationship between them is: the driving module (2) of the parallel 3RRC mechanism is installed on the bottom plate (1), and the rotating mechanism (6) is installed on the moving platform (5); the mechanisms of the equipment are mainly fixed by screws. connected; the rotating mechanism (6) is placed on the moving platform (5), and the device finally adopts a mixed connection method.

[0021] The bottom plate (1) is a metal plate with threaded mounting holes for fixing the drive module (2).

[0022] The parallel 3RRC mechanism is composed of a drive module (2), an RC connecting rod branch chain (3) a...

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Abstract

A novel six-freedom-degree force feedback device is composed of a baseboard (1), a parallel-connection 3RRC mechanism and a rotating mechanism (6), wherein a driving module (2) of the parallel-connection 3RRC mechanism is arranged on the baseboard (1), and the rotating mechanism (6) is arranged on a moving platform (5) of the parallel-connection 3RRC mechanism. All structural parts of the force feedback device are fixed through screws. A position zero calibration column (4) and a gesture zero calibration support (5) are respectively used for initial position calibrating and gesture angle calibrating of the device. Three driving branch chains of the parallel-connection 3RRC mechanism are uniformly distributed on the baseboard. The novel six-freedom-degree force feedback device achieves decoupling of translation movement and rotating movement, has the advantages of being multiple in freedom degrees, large in rotating operation space, high in position accuracy and the like, and has wide application value in virtual operations or other virtual reality interactive tasks.

Description

1. Technical field: [0001] The invention relates to a parallel robot mechanism, in particular to a novel six-degree-of-freedom force feedback device, which belongs to the technical field of robots. 2. Technical background: [0002] Traditional force-sensing interaction devices use parallel or series mechanisms, in which parallel connections can achieve large output force and high virtual stiffness, but the range of rotation angle at the end of the operation is small; series mechanisms can achieve a large working space, but the maximum virtual stiffness that can be achieved is relatively small. small. What kind of mechanism scheme should be adopted for the force-sensing interaction device to simultaneously achieve large output force, high virtual stiffness and large working space, especially the rotating working space is a problem that needs to be solved. 3. Contents of the invention: [0003] 1. Purpose: The purpose of the present invention is to solve the problems mentio...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 张玉茹刘军传王党校李朝斌
Owner BEIHANG UNIV
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