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A frame-type parallel force feedback device with a 6-DOF reusable end

A technology of feedback equipment and degrees of freedom, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of large motion inertia of force feedback devices, achieve large feedback force, reduce load loss, simple structure and operation

Active Publication Date: 2021-08-10
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the reduction wheel and the counterweight cause the force feedback device to move in a relatively large moment of inertia

Method used

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  • A frame-type parallel force feedback device with a 6-DOF reusable end
  • A frame-type parallel force feedback device with a 6-DOF reusable end
  • A frame-type parallel force feedback device with a 6-DOF reusable end

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Embodiment Construction

[0038] 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.

[0039] Such as figure 1 , figure 2 As shown, a frame-type parallel force feedback device with a 6-DOF reusable terminal includes a mechanical mechanism, a drive control module, a terminal attitude acquisition module, and a power supply module. The mechanical mechanism is used to realize the 6-DOF movement at the end of the force feedback device Input and 3-DOF feedback force output, and use the hanging wire counterweight to balance the self-weight; the drive control module is used to realize the motion detection and control of the motor, and control the force feedba...

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Abstract

The invention discloses a frame-type parallel force feedback device with a 6-degree-of-freedom reusable terminal, which includes a mechanical mechanism, a drive control module, a terminal attitude acquisition module and a power supply module. The mechanical mechanism is used to realize 6-degree-of-freedom at the force feedback terminal Motion input and 3-degree-of-freedom feedback force output, and use hanging wire counterweight to balance the self-weight; the drive control module is used to realize the motion detection and control of the motor, and control the output of the force feedback device; the terminal attitude acquisition module is used In order to complete the angle measurement of the terminal pitching up and down, left and right swinging and spinning along the arm direction; the power supply module is used to provide a stable and reliable power supply, and to perform current overload protection. The present invention has large feedback force, simple structure and operation, and real-time Good performance, low cost, flexible movement and so on.

Description

technical field [0001] The present invention relates to a force feedback device, in particular to a 6-degree-of-freedom frame-type parallel force-feedback device, which can be adapted to a variety of human motion capture devices such as ring-type and pen-type. The device can provide 6-degree-of-freedom motion input and 3 Degree of freedom force sense output. Background technique [0002] In the field of virtual reality technology, it is usually necessary to provide users with visual, auditory, tactile / force-sense feedback, so that users can obtain an immersive multi-sensory experience and a strong sense of presence. At present, there are many mature commercial virtual reality interactive devices on the market, such as data gloves, force feedback devices, VR glasses, etc. Among them, the force feedback device, as a new type of input and output device, can provide users with realistic force feedback. Unlike interactive devices that provide other senses such as hearing, visio...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0009B25J9/003B25J9/1602
Inventor 李静蓉刘家武王清辉谢海龙
Owner SOUTH CHINA UNIV OF TECH
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