Universal 6DOF force feedback device

Abstract

The present invention proposes a general-purpose 6-DOF force feedback device, including a base, a parallel mechanism and a series mechanism; the parallel mechanism includes a floating platform and a plurality of branch chains, and each branch chain includes a motor, a circuit board, and an encoder at the motor end , driving reel, semi-disc, connecting rod and shaft end encoder, motor and circuit board are fixedly connected to the base respectively, the circuit board is electrically connected to the motor end encoder, and the motor end encoder is connected to the end of the motor output shaft. The active reel is respectively connected to the front end of the output shaft of the motor and the semi-disc, and the semi-disc is respectively connected to the base and the connecting rod in rotation, and the encoder at the end of the shaft is inside the semi-disc to measure its rotation angle; the series mechanism and the floating The platform swivels to connect. Set the encoder at the motor end and the encoder at the shaft end to measure the rotation angles of the output shaft and the half disc respectively. By comparing the readings of the two encoders and compensating with the algorithm, the transmission error can be eliminated, and the real angle of the joint rotation of the transmission mechanism can be obtained, so that Equipment operation is simpler.

Description

technical field [0001] The invention relates to the field of force feedback devices, in particular to a general-purpose 6-degree-of-freedom force feedback device. Background technique [0002] Multi-degree-of-freedom force-sense interaction equipment, as an interface for human-computer interaction, is an indispensable hardware device for force / tactile interaction. The key to good or bad. The current force feedback equipment mainly has the following problems: 1. The three degrees of freedom at the end use the encoder rotation axis as the joint rotation axis, which has low stiffness and is easy to damage; 2. Only install an incremental encoder at the end of the motor. It is cumbersome to perform the calibration procedure when starting the electric motor, and the elastic deformation of the transmission line cannot be compensated, which affects the positioning accuracy of the equipment; 3. The overall inertia of the equipment is too large, which greatly affects the real-time pe...

AI Technical Summary

Problems solved by technology

The current force feedback equipment mainly has the following problems: 1. The three degrees of freedom at the end use the encoder rotation axis as the joint rotation axis, which has low stiffness and is easy to damage; It is cumbersome to perform the calibration procedure when starting the electric motor, and the elastic deformation of the transmission line cannot be compensated, which affects the positioning accuracy of the equipment; 3. The overall inertia of the equipment is too large, which has a great impact on the real-time performance of interactive operations; 4. The rotary joint only A single deep groove ball bearing is used, resulting in a serious reduction in the overall positioning accuracy of the device. In view of the above shortcomings, the present invention proposes a general-purpose 6-DOF force feedback device

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