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A Force Feedback Master-Slave Operation Controller

A controller and force feedback technology, applied in the direction of manufacturing tools, claw arms, manipulators, etc., can solve the problems of heavy weight at the end, small rotation space, lack of clamping freedom, etc., and achieve the effect of reducing the weight of the end and increasing the rotation space

Active Publication Date: 2021-06-11
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The main purpose of this application is to provide a force feedback master-slave operation controller to solve the lack of clamping freedom in the force feedback master hand manipulator in the related art, the large weight of the end leads to large motion inertia, poor dynamic performance, and small rotation space The problem

Method used

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  • A Force Feedback Master-Slave Operation Controller
  • A Force Feedback Master-Slave Operation Controller
  • A Force Feedback Master-Slave Operation Controller

Examples

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Embodiment Construction

[0029] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0030] It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances for...

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Abstract

The application discloses a force feedback master-slave operation controller, including a configurable dynamic platform and four sets of branch chain components; wherein, the configurable dynamic platform includes: a parallelogram member, and the four end points of the parallelogram member are all provided with rotary joints ; the transmission part used to drive the rotary joints at both ends of the first side of the parallelogram member to rotate; the hand-held assembly is arranged on the transmission part, and the hand-held assembly includes a first hand piece connected with the transmission part and a second hand that can slide up and down Holder; connecting piece, the first end of the connecting piece is hinged on the second hand piece, the second end is hinged on the third side of the parallelogram member, and the third side and the first side pass through the telescopic member connected so that the third side and the first side can approach or move away from each other. The present application solves the problems of the force feedback main hand manipulator in the related art, such as lack of clamping freedom, large end weight resulting in large motion inertia, poor dynamic performance, and small rotation space.

Description

technical field [0001] The present application relates to the field of haptic devices, in particular, to a force feedback master-slave operation controller. Background technique [0002] The teleoperation system expands the scope of human operation, allowing the operator to operate remote equipment for operations in a safe and comfortable environment, and is widely used in space and deep-sea exploration, atomic energy, medical treatment and other fields. The haptic device collects the operator's intention and position command in the teleoperation, and feeds back the contact information between the slave terminal and the environment to the operator in a force-sensing manner, which is one of the core components of the teleoperation system. [0003] The haptic device is mainly composed of a moving platform and moving components. Its main performance indicators include dimension, work space, force feedback capability, inertia, operability, etc. Different operating tasks have dif...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J3/02B25J18/00
CPCB25J3/02B25J18/00
Inventor 段星光靳励行王晋温浩余振奇宋承天
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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