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Two-way force feedback slave arm control device

A control device and force feedback technology, which is applied to manipulators, manufacturing tools, etc., can solve problems such as expensive, difficult maintenance, and bulky

Active Publication Date: 2016-04-06
苏茂
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to address the disadvantages of the existing force feedback slave arm control device, such as expensive, complex system, bulky, difficult maintenance, etc., and propose an external frame structure, which combines the angle sensor and the joint active drive device into one , while detecting the motion information of the human arm joints, it also converts the feedback force information into force or torque directly acting on the human arm, which greatly simplifies the complex force feedback from the hand arm control system

Method used

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  • Two-way force feedback slave arm control device
  • Two-way force feedback slave arm control device
  • Two-way force feedback slave arm control device

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Experimental program
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Effect test

specific Embodiment approach 1

[0025] Specific implementation mode one: as figure 1 , figure 2 , image 3 , Figure 5 with Figure 8 As shown, the two-way force feedback slave arm control device includes a device fixing mechanism 100, a shoulder motion detection drive mechanism 101, an elbow and upper arm motion detection drive mechanism 102, a wrist and forearm motion detection drive mechanism 103, and a glove base 104. The glove base 104 is worn and fixed on the operator's hand, and hinged with the wrist and forearm motion detection drive mechanism 103 through the first two-stage connecting rods 21, 22, and the wrist and forearm motion detection drive mechanism 103 is fixed on the operator's forearm The upper part close to the wrist joint is hinged with the elbow and upper arm motion detection driving mechanism 102 through the second two-stage connecting rod 6, 7, and the elbow and upper arm motion detection driving mechanism 102 is fixed on the operator's upper arm close to the elbow of the arm The...

specific Embodiment approach 2

[0026] Specific implementation mode two: as image 3 , Figure 4 , Figure 5 with Figure 8 As shown, the first joint detection driving part 105-1, the second joint detection driving part 105-2, the third joint detection driving part 105-3, the fourth joint detection driving part 105-4, the fifth joint detection driving part The component 105 - 5 and the sixth joint detection drive component 105 - 6 include an angle sensor 15 , a motor 17 , a clutch device 16 , casings 12 , 13 , 14 , and a transmission shaft 18 . The clutch device 16 is engaged with the transmission shaft 18 through the reduction gear set, and the transmission shaft 18 is connected with the angle sensor 15 through the gears. The motor 17 and the clutch device 16 have two working states of connection and disconnection. Action implementation process: when the motor 17 rotates, the clutch device 16 is connected with the motor 17, the motor 17 drives the transmission shaft 18 to rotate through the clutch device...

specific Embodiment approach 3

[0028] Specific implementation mode three: as figure 1 , figure 2 with image 3As shown, the device fixing mechanism 100 includes a back fixing base 1 and a back base support rod 2, the back fixing base 1 is fixed on the back of the operator, and the back fixing base 1 includes A, B The positions of the two joint measurement platforms correspond to the positions of the shoulder joints of the operator respectively, and the two ends of the back base support rod 2 are fixedly connected to the two measurement platforms A and B of the back fixed base 1 respectively. The shoulder motion detection drive mechanism 101 includes a first joint detection drive part 105-1, a second joint detection drive part 105-2, a third two-stage connecting rod 3, 4, an isolation column 5, and the first joint detection drive part 105-2. The drive part 105-1 is fixed on one end of the back base support rod 2, and the fixed part corresponds to the measurement platform A. The first joint detects the axi...

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Abstract

The invention provides a two-way force feedback slave manipulator arm control device, relates to a force feedback slave manipulator arm control device which is used for detecting the moving state of a human arm and can drive and feed back stress of a slave manipulator in a two-way and initiative mode, and aims at overcoming the defects that an existing mechanical arm or virtual arm controls device is complex in system, bloated in structure, difficult to maintain, high in price, incapable of realizing two-way initiative driving and the like. A joint detecting mechanism and a force feedback mechanism are integrated. A unique connecting mode and an exquisite joint measuring point layout are adopted. When an operator uses the device, an arm of the operator can maintain the flexibility to a maximum degree, the moving states of all the joints of the arm can be detected accurately, each arm joint of a controlled salve manipulator is made to be in uniform action with a corresponding arm joint of the operator, and the stress condition of the slave manipulator in the detailed working environment is fed back to the operator, so that the sense of immediacy of vertical reality or remote operation is increased.

Description

technical field [0001] The invention relates to a slave arm control device which detects the motion state of a human arm and has a force feedback function of bidirectional active driving. Background technique [0002] Due to the development of science and technology, robots are gradually being used in an increasing range. As a reliable and mature robot, teleoperation robots are widely used in various dangerous, complex and inaccessible environments. It uses a very reliable control method, which is directly controlled by the operator's instructions. As the tasks performed by teleoperation robots become more and more complex, people are pursuing reliability and at the same time put forward higher requirements for their flexibility, and it is necessary to implement teleoperation on complex manipulators to control multiple joints of the manipulator arm Coordinate movement together to achieve specific functions, which requires the use of a manipulator arm control device, and the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J13/08
Inventor 苏茂
Owner 苏茂