Multi-degree-of-freedom rotational force feedback device

By designing a multi-degree of freedom rotational power feedback device, using the driving structure of the first rotary frame, the second rotary frame and the rocker, the problems of small motion range, small feedback force and large friction influence in the prior art are solved, and high-precision multi-degree of freedom rotational power feedback is achieved.

CN115533946BActive Publication Date: 2025-03-21INST OF AUTOMATION CHINESE ACAD OF SCI
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Patent Information

Application Number
CN202211222556.6
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2022-10-08
Publication Date
2025-03-21
Estimated Expiration
2042-10-08

AI Technical Summary

Technical Problem

The existing force feedback handle device has a small range of motion and a small feedback force, and requires the handle to slide and move in the slide, resulting in additional frictional influence and reducing the force feedback accuracy.

Method used

A multi-degree-of-freedom rotation power feedback device is designed, including a first rotary frame, a second rotary frame and a rocker. The driving structure realizes the rotation power feedback of the rocker in both directions, ensuring that the position of the rocker remains unchanged during movement and avoiding additional sliding movement and friction.

Benefits of technology

The rocker's multi-degree of freedom rotation power feedback at a fixed point is achieved, with a large range of motion, a large feedback force, and a reduced friction influence, thereby improving the accuracy of force feedback.

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Abstract

The present invention relates to the field of force feedback technology, and discloses a multi-degree-of-freedom rotational force feedback device, comprising: a first rotating frame and a first driving structure, the first rotating frame comprising a first bracket and a second bracket connected vertically, the first bracket being provided with a first rotating shaft, the first driving structure being used to drive the first rotating frame to rotate axially around the first rotating shaft; a second rotating frame and a second driving structure, the second rotating frame being provided with a second rotating shaft, the axial direction of the second rotating shaft being perpendicular to the axial direction of the first rotating shaft, the second rotating frame being rotatably connected to the second bracket, the second driving structure being used to drive the second rotating frame to rotate axially around the second rotating shaft; and a rocker connected to the second rotating shaft. The multi-degree-of-freedom rotational force feedback device provided by the present invention realizes multi-degree-of-freedom rotational force feedback of the rocker at a fixed point, without additional sliding and other movements, avoiding additional friction during the movement of the rocker, thereby facilitating improving the accuracy of force feedback.
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