Three-degree-of-freedom translation force feedback hand controller

A translational force and degree of freedom technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as being easily blocked by obstacles, unable to be applied, and susceptible to electromagnetic environment interference.

Inactive Publication Date: 2013-12-11
BEIJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The use of position trackers to identify human body movements is mainly to distribute the position trackers on the moving parts of the human body. This method has the advantages of light weight, convenient use, high comfort, and is conducive to long-term operation, but it is easily disturbed by the electromagnetic e...

Method used

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  • Three-degree-of-freedom translation force feedback hand controller
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  • Three-degree-of-freedom translation force feedback hand controller

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Embodiment Construction

[0015] The present invention will be further described below in conjunction with the accompanying drawings.

[0016] Plane motion part (3) mainly includes motor support 1 (3-1), motor support 2 (3-2), support 1 (3-3), support 2 (3-4), big wheel 1 ( 3-5), large wheel 2 (3-6), proximal rod 1 (3-7), proximal rod 2 (3-8), distal rod 1 (3-9), distal rod 2 (3 -10), moving platform (3-11), auxiliary rod 1 (3-12), auxiliary triangle (3-13), auxiliary rod (3-14), limit pin 1 (3-15), limit pin 2 (3-16), connector 1 (3-17), tensioning device (3-18), connector 2 (3-19), limit pin 3 (3-20), limit pin 4 (3 -21), small wheel 1 (3-22), small wheel 2 (3-23); the planar movement part (3) can realize planar movement with 2 degrees of freedom, perpendicular to the movement in the vertical direction, based on the planar five-bar The mechanism is improved, the drive motor 1 (5) and the drive motor 2 (6) are installed on the proximal rod to perform displacement detection and force feedback, and th...

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Abstract

The invention discloses a three-degree-of-freedom translation force feedback hand controller. The device is improved based on a plane five-rod mechanism, and one-degree-of-freedom motion is added to the two-degree-of-freedom motion vertical to the plane. The device mainly comprises a base, a positioning support, a plane motion part, a vertical motion part, a drive motor, a counterweight and a force sensor. In accordance with the design requirements for a force sense interaction device, the three-degree-of-freedom translation device is subjected to kinematics analysis, work space design, position resolution analysis and the like. Compared with a traditional hand controller, a six-dimensional force/torque sensor is mounted at the tail end of the device, an accurate force sense feedback effect is realized, and the resolution of the feedback force is higher; moreover, the work space is larger, and the rigidity is higher. The three-degree-of-freedom translation force feedback hand controller disclosed by the invention has simple structure and high accuracy; the control method is simple and effective; the hand controller is convenient to operate and has broad application prospect.

Description

technical field [0001] The invention relates to a force feedback hand controller with three-degree-of-freedom translation, which is mainly used in the field of space robot and virtual reality teleoperation, capable of measuring displacement in three directions, and reproducing the contact force between objects in a virtual environment. Background technique [0002] Force feedback hand controllers, also known as force-feedback interactive devices, are generally used in robot teleoperation, virtual reality, and natural interactive interface design. In teleoperation, the operator makes a decision at the local end by understanding the information (vision, force sense) of the slave end, and controls the movement of the remote mechanical arm (slave hand) by manipulating the hand controller. [0003] At present, the interactive devices suitable for teleoperation include position tracker, optical tracker, force feedback hand controller, exoskeleton teleoperation master hand, etc. T...

Claims

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Application Information

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IPC IPC(8): B25J9/08B25J9/16B25J13/06
Inventor 宋荆洲孙汉旭贾庆轩白杨高荣
Owner BEIJING UNIV OF POSTS & TELECOMM
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