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Three-dimensional rotational force feedback device

A technology for feedback equipment and rotational force, applied in instruments, computer control, simulators, etc., can solve the problems of low precision of the end of the force feedback handle, serious delay effect of force feedback, and complicated kinematics solution, and achieve the length of the mechanism rod. The effect of optimal parameters, compact structure and compact internal structure

Active Publication Date: 2017-10-20
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

[0002] The existing commercial Sensable PHANTOM Omni force feedback handle uses a series mechanism to achieve three-degree-of-freedom force feedback. Due to the characteristics of the series mechanism, the end precision of the force feedback handle is not high, the structural rigidity is not enough, and the force feedback provided is small; for For the shortcomings of the force feedback handle of the above-mentioned series mechanism, people in the industry have developed a force feedback handle with a parallel structure. However, the existing force feedback handle with a parallel structure has complex kinematic solutions, which leads to slow response of the device and serious force feedback delay effect. , and problems such as small working space and huge structure

Method used

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Embodiment Construction

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0022] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0023] like figure 1 , 2 As shown, a three-dimensional rotational force feedback device of the present invention includes a handle 11, a moving platform 12, a base 13 and three sets of driving devices. The handle...

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Abstract

The invention discloses a three-dimensional rotational force feedback device comprising a handle, a moving platform, a base and three groups of driving devices. The handle is held at the moving platform and the handle and the moving platform make motions synchronously. The three groups of driving devices have the same structures; one group of driving devices include a motor, a reducer, and a connecting rod; the motors of the three groups of driving devices are installed at the base; and the connoting rods of the three groups of driving devices are connected to different positions of the moving platform. The moving platform, three groups of first connecting rods, and three groups of second connecting rods form a 3-RRR spherical parallel mechanism. Therefore, the internal structure of the device becomes compact; the rod length parameter is optimized; and good device performances of large working space, high virtual stiffness, high position resolution, reverse driving, and good isotropy are realized on the premise of the spatial dimension and quality constraints.

Description

technical field [0001] The invention relates to a force feedback manipulation device, in particular to a three-dimensional rotational force feedback device. Background technique [0002] The existing commercial Sensable PHANTOM Omni force feedback handle uses a series mechanism to achieve three-degree-of-freedom force feedback. Due to the characteristics of the series mechanism, the end precision of the force feedback handle is not high, the structural rigidity is not enough, and the force feedback provided is small; for For the shortcomings of the force feedback handle of the above-mentioned series mechanism, people in the industry have developed a force feedback handle with a parallel structure. However, the existing force feedback handle with a parallel structure has complex kinematic solutions, which leads to slow response of the device and serious force feedback delay effect. , and problems such as small working space and huge structure. Contents of the invention [...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25257
Inventor 刘冠阳陈逸农王衍陈伟
Owner BEIHANG UNIV
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