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

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...

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 environment, and Force feedback cannot be applied; for optical trackers, it is easily blocked by obstacles and is not suitable for use in small environments, and feedback force cannot be applied; due to its wearability, exoskeleton can easily obtain human skin and body movements parameter, but bulky in size and too bulky

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