Three-degree-of-freedom parallel connection mechanism applied to force feedback equipment

Abstract

The invention relates to a three-degree-of-freedom parallel connection mechanism applied to force feedback equipment, and belongs to the technical field of the force feedback equipment. The problems that existing force feedback equipment is small in output force, large in inertia, low in stiffness, and complex in structure and processing assembly process are solved. The three-degree-of-freedom parallel connection mechanism comprises a base, three driving branched chains and a driven constrained branched chain; the base is of a circular-ring-shaped structure; each driving branched chain comprises a first driving connecting rod and a second driving connecting rod which are connected through a connecting rod ball pair; the driven constrained branched chain comprises a first driven constrainedconnecting rod and a second driven constrained connecting rod which are connected through a cross shaft; the first driving connecting rods are mounted on the outer circumference of the base through driving rotating shafts; the second driving connecting rods are connected with the second driven constrained connecting rod through connecting piece ball pairs; and the first driven constrained connecting rod is mounted on the inner circumference of the base through a driven constrained rotating shaft. The three-degree-of-freedom parallel connection mechanism can be widely applied to the fields such as three-dimensional modeling, touch simulation, remote operation and virtual reality.

Description

technical field [0001] The invention relates to the technical field of force feedback equipment, in particular to a three-degree-of-freedom parallel mechanism applied to force feedback equipment. Background technique [0002] Force feedback refers to the process in which the computer responds to the user's input and acts on the user through the force feedback device in the process of human-computer interaction. At present, force feedback devices have been widely used in technical fields such as three-dimensional modeling, tactile simulation, teleoperation, virtual reality, and medical surgery. [0003] At present, commercial force feedback devices usually use series or parallel mechanisms. However, force feedback devices using series mechanisms have defects such as small output force, low stiffness, and low pose resolution; the most commonly used parallel mechanisms for force feedback devices are Delta mechanisms. The parallel mechanism was first proposed by Clavel in 1985 ...

AI Technical Summary

Problems solved by technology

[0004] In view of the above analysis, the present invention aims to provide a three-degree-of-freedom parallel mechanism applied to force feedback equipment to solve the problems of small output force, large inertia, low rigidity, complex structure and processing and assembly technology of existing force feedback equipment

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