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

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...

AI Technical Summary

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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