Six freedom degree force feedback hand controller

A degree of freedom, force sensor technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as high cost and difficulty in completing operation tasks, and achieve the effect of large output force, good dynamic response, and increased range of motion

Inactive Publication Date: 2014-04-23
BEIJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Most of the current force feedback hand controllers are designed according to specific use occasions or conditions. For example, special force feedback hand controllers for specific operations are difficult to complete different operating tasks. A special force feedback hand controller, the cost is too high

Method used

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  • Six freedom degree force feedback hand controller
  • Six freedom degree force feedback hand controller
  • Six freedom degree force feedback hand controller

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Embodiment Construction

[0017] The present invention will be further described below in conjunction with the accompanying drawings.

[0018] The six-degree-of-freedom force feedback hand controller can perform three-degree-of-freedom translation and three-degree-of-freedom rotational motion in space, and collect position and angle information to track the pose of the end effector; when it is necessary to simulate feedback force, It is necessary for the driving element to output a certain feedback force to realize the reproduction of virtual force.

[0019] The six-degree-of-freedom force feedback hand controller is mainly composed of a fixed base (1), a linear motor part (2), a movable platform (3), a force sensor (4), an operating handle (5), a connecting rod (6), and a slider (7), universal joint (8), ball hinge (9);

[0020] Among them, such as figure 2 As shown, the branch chain part includes: linear motor (2a), linear motor (2b), linear motor (2c), linear motor (2d), linear motor (2e), linear...

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Abstract

The invention discloses a six freedom degree force feedback hand controller. The six freedom degree force feedback hand controller is composed of a fixing base seat, linear motors, a moving platform, a force sensor, an operating handle, a connecting rod portion and a joint portion. The six freedom degree force feedback hand controller comprises six branch chains, wherein each branch chain comprises a linear displacement component, a two freedom degree universal joint, a three freedom degree spherical hinge and a connecting rod. Linear displacement is achieved through the linear motors, and due to the fact that the linear motors are used to drive the six freedom degree force feedback hand controller, the six freedom degree force feedback hand controller is high in accuracy and quick in response, and has no return stroke interval. The linear motors are fixed on the base seat, and the weight of moving parts is low. A certain opening angle is formed between each linear motor and the vertical direction, and therefore the moving range of the moving platform is enlarged. A six-dimensional force or torque transducer is installed at the tail end of the six freedom degree force feedback hand controller, and therefore the six freedom degree force feedback hand controller has precise force sense feedback effects and is high in feedback force resolution ratio. Furthermore, the six freedom degree force feedback hand controller is simple in structure, high in accuracy and convenient to operate, and has wide application prospect.

Description

technical field [0001] The invention relates to a force feedback hand controller with six degrees of freedom, which is mainly used in the field of space robot and virtual reality teleoperation. The operator operates at the master end, measures and calculates the displacement and rotation angle of the handle, and sends it to the slave end. , and perform force / torque feedback. Background technique [0002] Most of the current force feedback hand controllers are designed according to specific use occasions or conditions. For example, special force feedback hand controllers for specific operations are difficult to complete different operating tasks. A special force feedback hand controller, the cost is too high. Therefore, it is necessary to design a force feedback hand controller with better versatility. [0003] As a force-feedback hand controller, a force-feedback hand controller requires a good user experience, and having the same feel in all directions during operation is...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/12
Inventor 宋荆洲王冠吉郭帅白杨孙汉旭贾庆轩
Owner BEIJING UNIV OF POSTS & TELECOMM
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