Six-degree-of-freedom force feedback teleoperation master manipulator with gravity compensation

Abstract

The invention discloses a six-degree-of-freedom force feedback teleoperation master manipulator with gravity compensation. The six-degree-of-freedom force feedback teleoperation master manipulator comprises a fixed base and further comprises a waist joint mechanism, a shoulder joint mechanism, an elbow joint mechanism, a big arm mechanism, a small arm mechanism, a small arm rotary connecting mechanism and a wrist joint mechanism which are mounted on the fixed base, a big arm gravity compensation mechanism is arranged on the big arm mechanism, and a small arm gravity balance mechanism is arranged on the small arm rotary connecting mechanism. The joint mechanisms are provided with encoders and driving motors so as to achieve six-dimensional target pose information input and feedback force output in teleoperation information flow. The gravity interference of the teleoperation force feedback master manipulator in the movement process is counteracted in an elastic gravity compensation and gravity balance mode, the torque output and load of a joint motor are reduced, and transparency of force feedback can be achieved. The master manipulator has the advantages of being simple in structure, large in working space, high in system rigidity and capable of outputting large feedback force.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of force feedback teleoperation, and in particular to a six-degree-of-freedom force feedback teleoperation master hand with gravity compensation. Background technique [0002] As we all know, for complex and changeable work tasks and dangerous work environments, it is impossible to complete the planned target tasks only by relying on the robot's autonomous intelligent system. Human-computer interaction teleoperation technology can be used as an interaction medium between the operator and the remote operation environment, and the information of the human operation purpose is transmitted to the remote environment to perform tasks. At the same time, it is also necessary to maximize the contact force feedback information in the remote operation environment. Real feedback to the operator. Among them, the remote operation main hand device is responsible for transmitting the operator's ex...

AI Technical Summary

Problems solved by technology

[0003] The traditional force feedback manipulator needs to rely entirely or partially on the motor to balance its own weight moment, which reduces the effective load of the motor and increases the reduction ratio of the matching motor reducer. At the same time, the traditional force feedback manipulator has a small working space and relatively high stiffness. Low, affect the actual use effect

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