Extensible-connection six-freedom-degree force feedback mechanical arm

Abstract

The invention discloses an extensible-connection six-freedom-degree force feedback mechanical arm. The extensible-connection six-freedom-degree force feedback mechanical arm comprises a base mechanism, a parallel four-bar mechanism arranged on the base mechanism and an end executor mechanism connected to the tail end of the parallel four-bar mechanism. The extensible-connection six-freedom-degree force feedback mechanical arm can be used for capturing the movement of a wrist and can be connected with tools such as a force feedback data glove and a wrench in an extended mode. According to the extensible-connection six-freedom-degree force feedback mechanical arm, three freedom degrees used for determining the spatial positions of extension connecting positions have force sense feedback, force feedback is achieved in the mode that a direct-current servo motor is matched with a cable transmission speed reduction mechanism, and three freedom degrees used for determining the spatial postures of the extension connecting positions are detected through three high-accuracy photoelectric encoders; meanwhile, a good hardware platform is provided for obtaining the spatial positions and the spatial postures of extension devices and tools such as the data glove, the wrench and a screwdriver in virtual operation and obtaining the feedback force at the extension connecting positions, and the extensible-connection six-freedom-degree force feedback mechanical arm is compact in structure, large in movement space, high in rigidity, accurate in positioning and wide in application range.

Description

technical field [0001] The present invention relates to a force feedback device, in particular to a 6-degree-of-freedom force feedback manipulator with expandable connections, which can be extended and connected with tools such as data gloves, wrenches, and screwdrivers, and can be used to capture wrist movements. Background technique [0002] Virtual reality technology usually refers to a virtual environment similar to human vision, hearing, touch / force and other senses constructed by connecting human-computer interaction devices such as stereoscopic display devices, data gloves, and robotic arms to computers. Users can input various commands to the computer through various input devices, so that the computer can feed back information on multiple senses such as vision, hearing and touch / force to the user, allowing users to obtain a highly realistic multi-sensory experience Advanced man-machine interface technology enables users to have an immersive experience. The force fe...

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Problems solved by technology

[0003] At present, many universities and research institutes at home and abroad are engaged in the research and development of force feedback equipment. After searching the literature of the existing technology, it is found that the PHANTOM series force feedback products of Sensable Company of the United States have published invention patents (Pub. No.: US2008 / 0291161A1) and successfully applied for invention patents (Patent Number: US0077714836B2, Patent Number: US0055625576A), which design a six-degree-of-freedom force feedback mechanical arm, but its working space is too small, and its end is The pen-style joystick can no longer be extended and connected with other force-sensing interaction devices (such as the data glove CyberGlove), and the product equipment is expensive due to the particularity of the materials used; Chinese patent application number 201110229208.7, titled: A self-adjusting self-weight balance The force feedback interactive device, the patent uses a balance mechanism to independently adjust the self-weight balance of the device, but it also does not have the design of extended connection with other force-sensing devices and operating tools in the mechanical field; Chinese patent application number 201110122863.2, named: 一 A 6-degree-of-freedom force feedback virtual surgical instrument. The patented end is designed as a surgical forceps for virtual surgery. It has a single function and does not have a gravity balance design. Poor; Chinese patent application number 200810037094.4, titled: five degrees of freedom force feedback virtual surgical instrument, the patent has five degrees of freedom of motion and force feedback, and has a linear motion degree of freedom, but its moment of inertia and equipment impedance are relatively large, Seriously affect the precise positioning and real-time interaction of the device

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