Space teleoperation hand controller

A hand controller and remote operation technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of inflexible control, small working space, poor rigidity, etc., and achieve the effect of flexible control, reduced difficulty and cost, and good dynamic performance

Inactive Publication Date: 2014-05-14
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In order to avoid the deficiencies of the prior art, the present invention proposes a space teleoperated hand controller to overcome the problems of poor rigidity, small working space and inflexible control

Method used

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Embodiment Construction

[0016] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0017] The technical solution of the embodiment of the present invention includes a translation mechanism and a rotation mechanism. The translation mechanism includes a base, a mobile platform and three branch chains, and the three branch chains are fixed on the base in the form of an equilateral triangle. The rotating mechanism is located on the upper side of the base and is fixed on the moving platform of the translation mechanism.

[0018] The translation mechanism is composed of a base, three branch chains and a mobile platform. The base includes three bumps, which are respectively equipped with motor fixing devices. The three fixing devices are equilateral triangles; the three branch chains have a complete structure. The same, including an actuator rod, two connecting rods and two rotating shafts; the actuator rod is connected to the base motor through the r...

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Abstract

The invention relates to a space teleoperation hand controller. The space teleoperation hand controller is used as a master hand controller of a space teleoperation device and other human-computer interactive devices. The space teleoperation hand controller is large in working space and suitable for control over a teleoperation mechanical arm. The space teleoperation hand controller can carry out rotation control and translation control on a space robot respectively and can also carry out rotation control and translation control on the space robot simultaneously, can complete any operation at six degrees of freedom in space and is flexible in control. The space teleoperation hand controller comprises a translation mechanism and a rotation mechanism. The translation mechanism comprises a base, a moving platform and three branched chains. The three branched chains are fixed to the base in an equilateral triangle shape. The rotation mechanism is located on the upper side of the base and is connected with the moving platform of the translation mechanism. The space teleoperation hand controller has the advantages that the space teleoperation hand controller is compact in structure, reasonable in configuration and free of singularity and increasing working space; translation and rotation are completely decoupled, and control difficulty and control cost are reduced; the motion inertia is small and the dynamic performance is good.

Description

technical field [0001] The invention relates to a space teleoperation hand controller, in particular to a novel space teleoperation hand controller. Background technique [0002] With the continuous development of human space activities, especially the gradual development of the solar system and deep space exploration plans of various countries in recent years, there will be a lot of space production, space processing, space equipment, space maintenance and nursing work. However, sending astronauts to space requires a lot of money, and because space work needs to be carried out in a poorly understood and uncontrollable environment, there are certain dangers in extravehicular activities, so it is necessary to make full use of space robot technology to reduce the number of astronauts. The costs and costs of doing dangerous work. Prison robot probes have played an important role in interstellar exploration. In 2004, NASA proposed in the Space Exploration Outlook Report that on...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00
Inventor 黄攀峰周阳刘正雄常海涛
Owner NORTHWESTERN POLYTECHNICAL UNIV
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