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Parallel type three-degree-of-freedom force feedback manual controller and control method thereof

A technology of degree of freedom and force feedback, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve problems that limit the development of human-computer interaction technology, and achieve the effects of reduced calculation, large output force range, and simple structure

Inactive Publication Date: 2019-07-02
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

These factors also limit the development of human-computer interaction technology to a certain extent.

Method used

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  • Parallel type three-degree-of-freedom force feedback manual controller and control method thereof
  • Parallel type three-degree-of-freedom force feedback manual controller and control method thereof
  • Parallel type three-degree-of-freedom force feedback manual controller and control method thereof

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Embodiment Construction

[0035] Such as figure 1 , an embodiment of the present invention, including a base 1 . The base 1 is a cage-like structure composed of a front hexagonal frame 101 , a rear hexagonal frame 102 , three rail bottom plates 103 and several connecting rods 104 . The guide rail bottom plate 103 and the connecting rod 104 jointly fix and connect the parallel front hexagonal frame 101 and the rear side hexagonal frame 102 , and the guide rail bottom plate 103 and the connecting rod 104 are perpendicular to the plane where the front hexagonal frame 101 is located.

[0036] This embodiment also includes three groups of moving parts arranged symmetrically to the center; each group of moving parts includes a linear guide rail module 2 and a parallel linkage mechanism 9, and also includes front sides respectively arranged on the front and rear sides of the linear guide rail module 2 Transmission mechanism 3 and rear side transmission mechanism 4.

[0037] Such as figure 2 , the linear g...

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Abstract

The invention discloses a parallel type three-degree-of-freedom force feedback manual controller and a control method thereof. The parallel type three-degree-of-freedom force feedback manual controller is composed of a base, a moving part, tension sensors, a magnetorheological damper, a direct-current motor, a photoelectric encoder, an operating handle, a control circuit and the like. The base isa cage-like structure consisting of two hexagonal frames. The moving part comprises a pulley, a linear guide rail module and a parallel connecting rod mechanism. The output shafts of the pulley, the magnetorheological damper, the direct-current motor and the photoelectric encoder are fixedly connected through couplings. The pulley and a sliding block on the linear guide rail are in transmission through a steel wire rope. The two tension sensors are placed on the two sides of the sliding block correspondingly. The sliding block and the operating handle are correspondingly connected to the two ends of the parallel connecting rod mechanism through universal couplings. According to the parallel type three-degree-of-freedom force feedback manual controller and the control method thereof, the size and power consumption of the device are reduced by combining active and passive actuators, and wide and high-precision feedback force is provided for interaction under management of the force control method. Meanwhile, the device further has the characteristics of simple structure, large stroke, high stiffness, small inertia and high positioning accuracy.

Description

technical field [0001] The invention relates to a force feedback hand controller, which can measure the displacement of the terminal control handle and provide extensive and high-precision feedback force for the interaction between human and virtual environment, and can be widely used in human-computer interaction fields such as space exploration, deep sea exploration and virtual reality. . Background technique [0002] Human-computer interaction technology refers to a technology in which people realize the interaction between the operator and the machine through a certain interaction method, and it is widely used in the fields of virtual reality, deep-sea exploration and remote surgery. The force feedback hand controller is a human-computer interaction device widely used in teleoperation robot systems. As an intermediary between the operator and the virtual robot or the real robot, the hand controller not only has the function of sending the operator’s hand posture informa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/10B25J13/08
CPCB25J9/003B25J9/104B25J13/085
Inventor 宋爱国杨达陈大鹏
Owner SOUTHEAST UNIV
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