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A hybrid six-degree-of-freedom force feedback device and its application method

A force feedback and degree of freedom technology, applied in the field of robotics, can solve the problems of not being able to feed back too much force/torque, the small range of rotation angle at the end of the operation, and the small working space of parallel mechanisms, etc., to achieve large rotation working space, multiple degrees of freedom, and wide application value effect

Active Publication Date: 2018-11-20
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS +1
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Problems solved by technology

[0003] At present, most of the force feedback devices adopt a series or parallel structure. The series structure can provide a larger working space, but the virtual stiffness that can be achieved is small, that is, it cannot feedback too much force / torque
The parallel structure has higher rigidity and can achieve large output force / moment, but the working space of the parallel mechanism is small, especially the rotation angle range of the operating end is small

Method used

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  • A hybrid six-degree-of-freedom force feedback device and its application method
  • A hybrid six-degree-of-freedom force feedback device and its application method
  • A hybrid six-degree-of-freedom force feedback device and its application method

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Embodiment Construction

[0022] see Figure 1 to Figure 4 As shown, the invention discloses a hybrid six-degree-of-freedom force feedback device. The force feedback device includes a hybrid rotating device 1 , three branch chains connecting the hybrid rotating device 1 , three feedback driving devices corresponding to the three branch chains, and a bracket 3 for fixing the branch chains and the feedback driving device. For clarity of description, the three feedback driving devices are the first feedback driving device 41 , the second feedback driving device 42 and the third feedback driving device 43 . The first feedback driving device 41 , the second feedback driving device 42 and the third feedback driving device 43 may be DC motors or other driving units for providing torque output.

[0023] Please combine Figure 4 As shown, the hybrid rotating device 1 includes a base 11, the base 11 has a bottom wall 12 and a first side wall 13, a second side wall 14, a third side wall 15, a fourth side wall 1...

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Abstract

The invention discloses parallel-series six-degrees-of-freedom force feedback equipment and a use method. A first feedback drive device drives a first branch chain to move linearly, a second feedback drive device drives a second branch chain to move linearly, and a third feedback drive device drives a third branch chain to move linearly, so that translational motion of a parallel-series rotation device in three directions is achieved, and force feedback of an execution mechanism in the three directions of translational motion is achieved; meanwhile, a five feedback drive device drives a first rotation pair to rotate, and a six feedback drive device drives a second rotation pair to rotate so that a fourth feedback drive device can rotate in a three-dimensional mode; and an output shaft of the fourth feedback drive device provides rotation of the output shaft to the execution mechanism. According to the parallel-series six-degrees-of-freedom force feedback equipment and the use method, translational motion and rotation motion are decoupled; the parallel-series six-degrees-of-freedom force feedback equipment has the advantages of multiple degrees of freedom, large rotation working space, high position accuracy and the like, and has wide application value in the remote operation or virtual reality interaction tasks.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a six-degree-of-freedom force feedback device. Background technique [0002] As a new concept, force feedback has broad prospects for development in the fields of medical treatment, scientific research, and precision testing. For example, the virtual surgery system introduced by the concept of force feedback, through real-time numerical calculation of the deformation process of surgical instruments and soft tissues, simulates the deformation of soft tissues and the stress state of instruments, and through external force feedback equipment, enables doctors to perform surgical operations , Perceive the existence of feedback force, and better achieve the training effect of clinical surgery. [0003] At present, most force feedback devices adopt a series or parallel structure. The series structure can provide a larger working space, but the virtual stiffness that can be realized is s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/10
CPCB25J9/00B25J9/10
Inventor 王琰杨小龙李耀吴洪涛陈柏
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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