Three degree of freedom parallel mechanism applied to teleoperation master manipulator
A degree of freedom and remote operation technology, applied in the field of remote operation master hand, can solve the problems of complex structure and processing and assembly process, small output force and low stiffness of parallel mechanism, and achieve ingenious design structure, large output force and high stiffness. Effect
Active Publication Date: 2018-12-25
BEIJING MECHANICAL EQUIP INST
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[0004] In view of the above analysis, the present invention aims to provide a three-degree-of-freedom parallel mechanism applied to the main hand of remote operation to solve the problem of small output force, large inertia, low stiffness, structure and processing of the existing parallel mechanism of the main hand of remote operation. The complex problem of assembly process
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[0029] Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and together with the embodiments of the present invention are used to explain the principle of the present invention and are not intended to limit the scope of the present invention.
[0030] A specific embodiment of the present invention, such as Figure 1 to Figure 2 As shown, a three-degree-of-freedom parallel mechanism applied to the main hand of remote operation is disclosed, including a base 1 and three driving branch chains 2, a shaft seat groove is arranged in the center of the base 1, and a shaft seat is rotationally connected in the shaft seat groove; Also includes a passive restraint branch chain 3, the passive restraint branch chain includes a passive restraint connecting rod 3-1, the passive restraint connecting rod 3-1 can pass through the shaft seat, and move ...
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The invention relates to a three degree of freedom parallel mechanism applied to a teleoperation master manipulator, belongs to the technical field of teleoperation master manipulators, and aims to solve the problems that the existing teleoperation master manipulator is small in output force, large in inertia, low in rigidity and complicated in structure and processing and assembling technology. The three degree of freedom parallel mechanism comprises a base and three driving branched chains, wherein an axle seat groove is formed in the center of the base; an axle seat is rotatably connected into the axle seat groove; the three degree of freedom parallel mechanism further comprises a driven restraint branched chain; the driven restraint branched chain comprises a driven restraint connecting rod; the driven restraint connecting rod can penetrate through the axle seat and moves the axis of the driven restraint connecting rod; each of the driving branched chains comprises a first drivingconnecting rod and a second driving connecting rod; the two driving connecting rods are connected through a connecting rod spherical pair; the first driving connecting rods are mounted on the periphery of the base through driving rotary shafts; and the second driving connecting rods are connected with the driven restraint connecting rod through connecting piece spherical pairs. The three degree offreedom parallel mechanism can be widely applied to the technical fields of three-dimensional modeling, touch simulation, teleoperation, virtual reality and the like.
Description
technical field [0001] The invention relates to the technical field of the main hand of remote operation, in particular to a three-degree-of-freedom parallel mechanism applied to the main hand of remote operation. Background technique [0002] The force feedback master hand is the key device of the master-slave teleoperation robot system. It is the input device for real-time motion control of the slave manipulator. When the master hand provides the interaction force between the slave hand and the unknown environment to the operator, the master hand Be a force-sensing / interfacing device. 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, the main hand device of force feedback teleoperation has been widely used in technical fields such as 3D modeling, tactile simulation, teleoperation, virtual reality, and medical surgery. [0...
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IPC IPC(8): B25J9/00B25J3/00
CPCB25J3/00B25J9/0072
Inventor 吕鑫张洪冬李冠呈李候刘昊
Owner BEIJING MECHANICAL EQUIP INST