Series-parallel 6-degree-of-freedom force feedback mechanical arm

A degree of freedom and force feedback technology, applied in the direction of manipulators, program-controlled manipulators, claw arms, etc., can solve the problems that cannot satisfy the free rotation movement of modeling designers, affect the precise positioning and real-time interaction of equipment, and have large motion inertia and equipment impedance. and other problems, to achieve the effect of reducing motion inertia and motion impedance, high rigidity, and low cost

Active Publication Date: 2016-08-10
SOUTH CHINA UNIV OF TECH
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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 Delta series products of Force Dimension Company in the United States are designed as a three-degree-of-freedom The parallel-connected force feedback manipulator has three degrees of freedom of movement, and has feedback force on all three degrees of freedom of movement. However, the working space of the device is too small, and it only has three degrees of freedom of movement, which cannot meet the needs of modeling designers. Free rotation of the hand in space, and the product equipment is expensive due to the particularity of the materials used; Chinese patent application number 201510033110.2, titled: A switchable seven-degree-of-freedom force feedback teleoperated hand, the patent has seven There are four degrees of freedom of motion and force feedback on all seven degrees of freedom of motion, but the motor installed on the operating end leads to a large moment of inertia and equipment impedance of the entire device, which seriously affects the precise positioning and real-time interaction of the device; China Patent application number 201310042090.6, titled: A series-parallel force feedback teleoperated hand, the patent has 6 degrees of freedom of motion, with feedback force on 3 degrees of freedom, and passes through the counterweight on the 3 degrees of freedom in series at the end Gravity balance compensation is carried out, but the counterweight mechanism at the end leads to an uncompact structure at the end of the equipment and reduced movement flexibility

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Embodiment Construction

[0035] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following the described embodiment.

[0036] Such as figure 1 with figure 2As shown, a hybrid 6-DOF force feedback manipulator includes a base mechanism 1 , a parallel mechanism 2 arranged on the base mechanism, and a series mechanism arranged at the end of the parallel mechanism 2 .

[0037] Such as Figure 6 As shown, the base mechanism 1 includes a first support seat 11 placed on a horizontal plane, a second support seat 12 connected to the first support seat 11 by screws, and a third support seat 12 connected to the second support seat 12 by bolts 13. The three supporting bases constitute a cantil...

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Abstract

The invention discloses a series-parallel 6-degree-of-freedom force feedback mechanical arm. The mechanical arm comprises a base mechanism, a parallel mechanism arranged on the base mechanism and a series mechanism arranged at the tail end of the parallel mechanism, wherein the parallel mechanism comprises a fixed platform, three branch chains and a floating platform; the fixed platform is fixed on the base mechanism; one end of each branch chain is movably connected with the front side of the fixed platform; the floating platform is movably connected with the other end of each branch chain; a driving execution element which is in driving connection with all the branch chains through a transmission device is also arranged on the fixed platform; the series mechanism comprises a three-dimensional force sensor and a handle mechanism which are sequentially arranged on the floating platform; the handle mechanism has three degrees of rotating freedom; and sensors are arranged at the tail end of the driving execution element and the handle mechanism. The mechanical arm provided by the invention has the advantages that 6-degree-of-freedom motion input is provided; the spatial position and posture of a hand of an operator can be flexibly captured; a very good hardware platform for simulation in a virtual environment, especially style design simulation, is provided; and the structure is compact, the motion space is suitable, the rigidity is high and the motion is flexible.

Description

technical field [0001] The invention relates to a force feedback device, in particular to a hybrid 6-degree-of-freedom force feedback mechanical arm, which can capture the spatial position and posture of the operator's hand for interaction in virtual modeling design. Background technique [0002] Virtual modeling design is one of the important applications of virtual reality technology in the design and manufacturing industry. Modeling designers interact with the virtual environment with the help of virtual reality systems, and can carry out modeling design, simulation, performance analysis, model modification, etc. Compared with traditional CAD software modeling design, virtual modeling design technology with the help of virtual reality system can make modeling design more intuitive and concise, and it is more conducive to designers to express design ideas quickly. Among them, force-sensing interaction technology is the key technology in virtual modeling design, which impro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/00B25J9/00
CPCB25J9/003B25J18/00
Inventor 王清辉吴书传李静蓉黄仲东倪建龙
Owner SOUTH CHINA UNIV OF TECH
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