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

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...

AI Technical Summary

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

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