Three-Degree-of-Freedom Teleoperation Force-Feedback Master Hand

Abstract

The present invention relates to a three-degree-of-freedom teleoperation force feedback master hand, belonging to the technical field of teleoperation. The three-degree-of-freedom teleoperation force feedback master hand includes a base, a manipulation device and a terminal operation component; the base includes a chassis and a support component; the manipulation device includes a first joint component, a second joint component and a third joint component, and the three components are rotationally fixed end to end in sequence to form three degrees of freedom; each joint has a motor power supply board, a motor drive board, a motor control board and a non-contact angle encoder, and all are driven by a brushless DC motor. The present invention directly applies the motor output torque to the corresponding joint, and drives the terminal operation component to move through the sequentially connected joints, reducing the motor control difficulty and improving the operation fluency; the manipulation device can be installed on the end of other master hands, and the structure of the terminal operation component can also be replaced to achieve a better effect of controlling the slave robot.

Description

Technical Field

[0001] The present invention relates to the technical field of teleoperation robots, and specifically, to a three-degree-of-freedom teleoperation force feedback master hand. Background Art

[0002] With the continuous development of industrial technologies, industrial robots have been widely used in industries such as welding, assembly, and handling, and automated control has been achieved. However, in working environments that are unsuitable for humans, especially in complex environments such as nuclear radiation, high temperature and high pressure, and diverse and real-time operations, it is very difficult for robots to achieve automatic operations, and still require the participation of operators. Among them, the teleoperation master hand is the most common operating device.

[0003] Force feedback belongs to a virtual reality technology, which can express the reaction force in a virtual scene or the "perceived force" of a robot through a mechanical structure, and has been widely used in remote operations. In the prior art, the teleoperation master hand mainly obtains the position and attitude information of the master hand through sensors, and then sends control instructions to the robot through the teleoperation robot system. However, most teleoperation master hands do not provide force feedback, and some teleoperation master hands only provide force feedback on a single axis. Among the teleoperation master hands with force feedback on each axis, most use the form of a servo motor or a reducer plus a motor to obtain a large force perception feedback, which affects the smoothness of operation and increases the difficulty of motor control. Summary of the Invention

[0004] In view of the above problems of the prior art, the present invention designs a teleoperation master hand with a small working space and three degrees of freedom with force feedback.

[0005] The present invention adopts the following technical solutions:

[0006] The three-degree-of-freedom teleoperation force feedback master hand of the present invention is characterized in that it includes a base, a manipulation device, and an end operation component; the base includes a chassis and a support component; the manipulation device includes a first joint component, a second joint component, and a third joint component. The first, second, and third joint components are sequentially rotatably fixed end to end to form three degrees of freedom, and each joint is driven by a brushless DC motor.

[0007] The first joint component includes a first joint motor, a first joint motor seat, a first joint link, a first joint housing, and a second joint drive member; the second joint drive member is connected to the first joint link.

[0008] The second joint component includes a second joint motor, a second joint link, a second joint housing, and a third joint drive member; the third joint drive member is connected to the second joint link.

[0009] The first joint motor is used to drive the first joint link so that the end operating component can move around a first direction; the second joint motor is used to drive the second joint link so that the end operating component can move around a second direction; the third joint motor is used to drive the end operating component so that it can move around a third direction;

[0010] The center lines of the first joint motor, the second joint motor, and the third joint motor intersect at a point;

[0011] According to the operation requirements, the three-degree-of-freedom teleoperation force feedback master manipulator enables the first, second, and third joint component motors to output torques during the work initialization stage to provide a known force, which is a manually set value in actual operation; the three-degree-of-freedom teleoperation force feedback master manipulator passively receives the desired force, collects the motion information of the first, second, and third joint components, and then transmits the received desired force information and motion information through the end operating component; the end operating component receives the transmitted feedback force information, enables the first, second, and third joint component motors to output torques in real time, and then actively provides the feedback force through the three-degree-of-freedom teleoperation force feedback master manipulator.

[0012] Furthermore, the three-degree-of-freedom teleoperation force feedback master manipulator adopts dynamic control; the first, second, and third joint components all rotate around their own z axes; the dynamic control of the three-degree-of-freedom teleoperation force feedback master manipulator includes the following steps:

[0013] A1. Construct a D-H coordinate system and a kinematic matrix according to the master manipulator configuration and parameters;

[0014] A2. Real-time collect the angle θ information of the joint motors;

[0015] A3. Construct a master manipulator dynamics model through Lagrange's equations of motion;

[0016] A4. Solve the Euler-Lagrange equation by combining the geometric method and the algebraic method to obtain the motor output torque value;

[0017] Furthermore, the above-mentioned chassis is connected to the support component; the first joint component is connected to the support component; the end operating component is connected to the third joint component.

[0018] Furthermore, the above-mentioned support component includes a support main body, a support housing, a master manipulator power board, and a first joint motor driver; the first joint motor driver is connected to the support main body.

[0019] Furthermore, the above-mentioned joint driver includes a motor control board, a motor drive board, and a motor power board;

[0020] The first joint driving member drives and controls the first joint motor to drive the first joint link to rotate;

[0021] The second joint driving member drives and controls the second joint motor to drive the second joint link to rotate;

[0022] The third joint driving member drives and controls the third joint motor to drive the end operating component to rotate.

[0023] Furthermore, zero-position calibration positions are provided on the above-mentioned support component, first joint component, second joint component, and end operating component;

[0024] The zero-position calibration positions are strip-shaped. The zero-position calibration position of the support component 11 is provided at the upper end of the support body 111. The zero-position calibration positions of the first joint component 5 are provided at both of its ends and there are two respectively. The zero-position calibration positions of the second joint component 6 are also provided at both of its ends and there are two respectively. When the first joint component 5 rotates relative to the support component 11 to the zero position, it is necessary to ensure that their corresponding strip-shaped zero-position calibration positions are aligned. Similarly, when the second joint component 6 rotates relative to the first joint component 5 to the zero position, it is necessary to ensure that their corresponding strip-shaped zero-position calibration positions are aligned.

[0025] Furthermore, a zero-position calibration buckle is covered on the above-mentioned zero-position calibration position during zero-position calibration. The zero-position calibration buckle is a cuboid block, and its bottom has a cuboid groove, and the shape and size of the cuboid groove are equivalent to those of the strip-shaped zero-position calibration position.

[0026] Furthermore, the zero-position calibration operation of the three-degree-of-freedom teleoperation force feedback master hand includes the following steps:

[0027] B1. Install the first joint component on the support component, initialize the first joint motor, install the zero-position calibration buckle, and obtain the zero-position calibration value of the first joint motor;

[0028] B2. Install the second joint component on the first joint component, initialize the second joint motor, install the zero-position calibration buckle, and obtain the zero-position calibration value of the second joint motor;

[0029] B3. Install the third joint component on the second joint component, initialize the third joint motor, install the zero-position calibration buckle, and obtain the zero-position calibration value of the third joint motor.

[0030] Furthermore, an end operating component control board, a wireless communication module, a touch module, and / or at least two operation buttons are provided on the above-mentioned end operating component. The wireless communication module transmits the expected force passively received by the three-degree-of-freedom teleoperation force feedback master hand outward; the wireless communication module receives the feedback force transmitted externally.

[0031] Furthermore, non-contact angular encoders are provided on the above-mentioned first joint motor, second joint motor, and third joint motor.

[0032] Furthermore, the solution method for the above-mentioned A1 includes the following steps:

[0033] A11. According to the homogeneous transformation equation between the link coordinate systems, the homogeneous transformation matrix of the end coordinate system relative to the base coordinate system can be obtained Satisfying formula (1):

[0034]

[0035] Among them, represents the homogeneous coordinate transformation matrix between two adjacent link coordinate systems; is a fixed transformation matrix, not used as a rotating joint, for facilitating the subsequent solution of the dynamic equation.

[0036] Furthermore, the solution method for the above-mentioned A3 includes the following steps:

[0037] A31. Set the generalized coordinate point as the centroid of the end effector assembly, and the coordinates are defined as P = (P x , P y , P z ), and the angular values measured by the non-contact encoders at the three joints are θ1, θ2, and θ3 respectively;

[0038] A32. Set a generalized coordinate system including the point P and θ1, θ2, θ3, which can be calculated from formula (1) and used as three constraint equations; the Lagrangian function formula (2):

[0039] L = K - P (2)

[0040] Among them, K is the system kinetic energy of the three-degree-of-freedom teleoperation force feedback master hand; P is the system potential energy of the three-degree-of-freedom teleoperation force feedback master hand.

[0041] A33. Use the first type of Lagrangian equation formula (3) to model the three-degree-of-freedom teleoperation force feedback master hand:

[0042]

[0043] Furthermore, the solution method for the above-mentioned A4 includes the following steps:

[0044] A41. For the three-degree-of-freedom teleoperation force feedback master hand in motion, the system kinetic energy includes the kinetic energies of all moving components and can be expressed as formula (4):

[0045]

[0046] A42. The three-degree-of-freedom teleoperation force-feedback master hand in motion, the system potential energy includes the potential energy of all moving parts, and can be expressed by formula (5):

[0047]

[0048] A43. Substituting formulas (4) and (5) into formula (2) gives the Lagrange equation. Substituting q j =(P x , P y , P z ) into formula (3), where Q j =(F x , F y , F z ), the Lagrange operators λ1, λ2, and λ3 can be obtained;

[0049] A44. Substituting q j =(θ1, θ2, θ3) into formula (3), where Q j =(τ1, τ2, τ3), the output torque values τ1, τ2, and τ3 of the joint motors can be obtained.

[0050] The beneficial effects of the present invention are as follows:

[0051] 1. The teleoperation master hand provided by the present invention uses motors to drive joint movements, reducing the overall structural complexity. A non-contact angle encoder is provided on the motor, which can obtain the joint angles in real time and provide the data basis for the master hand. The joints are connected by connecting rods, and the structure design is simple and easy to assemble, which can avoid interference with each other during movement as much as possible and meet the operation continuity and real-time performance to the greatest extent.

[0052] 2. The teleoperation master hand provided by the present invention can provide the corresponding force sense information to the operator according to the working load of the robot to achieve a sense of presence and reduce the fatigue of the operator during long-term operation.

[0053] 3. The touch module and button switch installed in the end operation component of the present invention can be used to control the electrical, hydraulic or pneumatic tools attached to the slave robot.

[0054] 4. The teleoperation master hand provided by the present invention is light in weight and small in size, and has high portability. Description of the Drawings

[0055] In order to more clearly illustrate the technical solutions of the present invention, the drawings required for the embodiments will be briefly introduced below. The drawings in the following description are some embodiments of the present invention, which are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0056] Figure 1 Schematic diagram of the three - degree - of - freedom teleoperation force - feedback master hand structure provided by the present invention;

[0057] Figure 2 Schematic diagram of the base of the three - degree - of - freedom teleoperation force - feedback master hand provided by the present invention;

[0058] Figure 3 One of the schematic diagrams of the operating device of the three - degree - of - freedom teleoperation force - feedback master hand provided by the present invention;

[0059] Figure 4 Schematic diagram of the general structure of the joint motor of the three - degree - of - freedom teleoperation force - feedback master hand provided by the present invention;

[0060] Figure 5 One of the schematic diagrams of the first joint of the three - degree - of - freedom teleoperation force - feedback master hand provided by the present invention;

[0061] Figure 6 One of the schematic diagrams of the second joint of the three - degree - of - freedom teleoperation force - feedback master hand provided by the present invention;

[0062] Figure 7 Schematic diagram of the support assembly of the three - degree - of - freedom teleoperation force - feedback master hand provided by the present invention;

[0063] Figure 8 One of the schematic diagrams of the first joint of the three - degree - of - freedom teleoperation force - feedback master hand provided by the present invention;

[0064] Figure 9 One of the schematic diagrams of the second joint of the three - degree - of - freedom teleoperation force - feedback master hand provided by the present invention;

[0065] Figure 10 One of the schematic diagrams of the end - effector assembly of the three - degree - of - freedom teleoperation force - feedback master hand provided by the present invention;

[0066] Figure 11 One of the schematic diagrams of the end - effector assembly of the three - degree - of - freedom teleoperation force - feedback master hand provided by the present invention;

[0067] Figure 12 Schematic diagram of the working state process of the three - degree - of - freedom teleoperation force - feedback master hand provided by the present invention;

[0068] Figure 13 Schematic diagram of the coordinate systems of each joint of the three - degree - of - freedom teleoperation force - feedback master hand provided by the present invention;

[0069] Figure 14 Schematic diagram of the zero - position calibration buckle of the three - degree - of - freedom teleoperation force - feedback master hand provided by the present invention;

[0070] Figure 15 One of the schematic diagrams of the operating device of the three - degree - of - freedom teleoperation force - feedback master hand provided by the present invention;

[0071] Reference numerals:

[0072] 1. Base; 2. Manipulating device; 3. End operating assembly;

[0073] 5. First joint assembly; 6. Second joint assembly; 7. Third joint assembly; 8. Zero-position calibration buckle;

[0074] 10. Chassis; 11. Support assembly; 111. Support main body; 112. Support housing; 113. Master hand power board; 114. Support assembly zero-position calibration position;

[0075] 21. Joint slip ring; 22. Non-contact angular encoder for joint motor;

[0076] 31. End operating main body; 32. End operating control; 311. End operating assembly zero-position calibration position; 3111. End operating control board; 3112. Wireless communication module; 3211. Touch module; 3212. Operation button;

[0077] 51. First joint motor; 52. First joint motor base; 53. First joint connecting rod; 54. First joint housing; 511. First joint motor driving part; 531. First joint assembly zero-position calibration position; 5111. First joint motor control board; 5112. First joint motor driving board; 5113. First joint motor power board;

[0078] 61. Second joint motor; 62. Second joint connecting rod; 63. Second joint connecting rod housing; 611. Second joint motor driving part; 621. Second joint assembly zero-position calibration position; 6111. Second joint motor control board; 6112. Second joint motor driving board; 6113. Second joint motor power board;

[0079] 71. Third joint motor; 711. Second joint motor driving part; 7111. Third joint motor control board; 7112. Third joint motor driving board; 7113. Third joint motor power board. Detailed implementation manners

[0080] In order to make the objectives and technical solutions of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention.

[0081] The three-degree-of-freedom teleoperation force feedback master hand of the present invention will be described below in conjunction with the accompanying drawings.

[0082] Figure 1 is a schematic structural diagram of the three-degree-of-freedom teleoperation force feedback master hand provided by the present invention, as Figure 1As shown in the figure, the three-degree-of-freedom teleoperation force-feedback master hand includes a base 1, a manipulation device 2, and an end operation assembly 3.

[0083] Among them, the manipulation device 2 provides the movement of the three degrees of freedom of the master hand.

[0084] Furthermore, Figure 2 is a schematic diagram of the base of the three-degree-of-freedom teleoperation force-feedback master hand. As Figure 2 shown, the base 1 includes a chassis 10 and a support assembly 11; a concave platform is provided on the chassis 10 to facilitate the fixed connection with the support assembly 11; the chassis 10 is used to prevent the master hand from tipping over due to the overturning moment, and the basic shape of the chassis 10 is an elliptical ring-shaped flat plate, which is connected to the convex arc at both ends of the long axis of the elliptical ring, and a continuous plate is provided between the elliptical ring and the convex arc, and the continuous plate and the flat plate have the same thickness.

[0085] It should be noted that the back of the support assembly 11 is provided with a main power wire hole and a main power switch of the master hand; the main power wire hole can also pass the signal wire to facilitate the connection with the upper computer; the main power switch controls the on or off of the power supply of the teleoperation master hand.

[0086] Among them, the manipulation device 2 is installed on the support assembly 11; the end operation assembly 3 is installed on the manipulation device 2.

[0087] Furthermore, Figure 3 is one of the schematic diagrams of the manipulation device of the three-degree-of-freedom teleoperation force-feedback master hand. The manipulation device 2 includes a first joint assembly 5, a second joint assembly 6, and a third joint assembly 7. The three assemblies are sequentially connected by rotating hinges at the head and tail to form three degrees of freedom, and each joint is driven by a brushless DC motor.

[0088] Specifically, as Figure 4 shown, Figure 4 is a schematic diagram of the general structure of the joint motor of the three-degree-of-freedom teleoperation force-feedback master hand. The motor is a hollow brushless DC motor, and a joint slip ring 21 is installed in the hollow position of the motor; non-contact angle encoders 22 are provided on all joint motors to monitor the rotation angle signals during the operation process.

[0089] It should be noted that the joint slip ring 21 facilitates the wiring inside the master hand structure, can simplify the structure design and is easy to assemble; since the teleoperation master hand does not need to operate at high speed, the service life and installation requirements of the joint slip ring 21 meet the master hand design.

[0090] Furthermore, Figure 5 is one of the schematic diagrams of the first joint of the three-degree-of-freedom teleoperation force-feedback master hand. As Figure 5As shown in the figure, the first joint motor 51 is installed on the first joint motor base 52; by driving the first joint motor 51 to drive the first joint link 53, the end effector 3 rotates around the first direction, that is, the first degree of freedom movement of the end effector 3 is realized.

[0091] Furthermore, Figure 6 is one of the schematic diagrams of the second joint of the three-degree-of-freedom teleoperation force feedback master hand. As Figure 6 shown in the figure, by driving the second joint motor 61 to drive the second joint link 62, the end effector 3 rotates around the second direction, that is, the second degree of freedom movement of the end effector 3 is realized.

[0092] Specifically, by driving the third joint motor 71 to drive the end effector 3 to rotate around the third direction, that is, the third degree of freedom movement of the end effector 3 is realized.

[0093] It should be noted that the three-degree-of-freedom teleoperation force feedback master hand provided by the embodiment of the present invention directly drives the joint movement by the motor, reducing the complexity of the overall structure; the joint motors are connected by linkages, and the structure design is simple and easy to assemble, which can avoid interference with each other during movement as much as possible; the difficulty of motor control is reduced, the operation fluency is improved, and the operation coherence and real-time performance are maximally satisfied.

[0094] Furthermore, Figure 7 is the schematic diagram of the support component of the three-degree-of-freedom teleoperation force feedback master hand. As Figure 7 shown in the figure, the support component 11 includes a support main body 111, a support housing 112, a master hand power board 113, and a first joint motor driver 511; a support component zero-position calibration position 114 is provided on the support main body 12; the first joint motor driver 511 is connected to the support main body 111.

[0095] Specifically, the first joint driver 511 drives and controls the first joint motor 51 to drive the first joint link 52 to rotate.

[0096] Furthermore, Figure 8 is the second schematic diagram of the first joint of the three-degree-of-freedom teleoperation force feedback master hand. The first joint assembly 5 includes a first joint motor 51, a first joint motor base 52, a first joint link 53, a first joint housing 54, and a second joint driver 611. As Figure 8 shown in the figure, first joint zero-position calibration positions 531 are provided at both ends of the first joint link 53; the second joint driver 611 is connected to the first joint link 53.

[0097] Specifically, the second joint driver 611 drives and controls the second joint motor 61 to drive the second joint link 62 to rotate.

[0098] Furthermore,Figure 9 It is the second schematic diagram of the second joint of a three-degree-of-freedom teleoperation force-feedback master hand. The second joint assembly 6 includes a second joint motor 61, a second joint connecting rod 62, a second joint housing 63, and a third joint driving member 711; as Figure 9 shown, second joint zero-position calibration positions 621 are provided at both ends of the second joint connecting rod 62; the third joint driving member 711 is connected to the second joint connecting rod 62.

[0099] Specifically, the third joint driving member 711 drives and controls the third joint motor 71 to drive the end effector assembly 3 to rotate.

[0100] In the three-degree-of-freedom teleoperation force-feedback master hand provided by the embodiment of the present invention, the driving members of the three joints include a motor control board, a motor driver board, and a motor power supply board. As Figure 7 shown, the first joint motor control board 5111, the first joint motor driver board 5112, and the first joint motor power supply board 5113 are installed on the support body 111; as Figure 8 shown, the second joint motor control board 6111, the second joint motor control board 6112, and the second joint motor power supply board 6113 are installed on the first joint connecting rod 53; as Figure 9 shown, the third joint motor control board 7111, the third joint motor driver board 7112, and the third joint motor power supply board 7113 are installed on the second joint connecting rod 62.

[0101] It should be noted that the motor control board is a micro operating system for controlling the motor, which can be any control chip; the motor driver board is a power board for driving a brushless DC motor, which can also be any driving chip, and the power board integrates a current sampling function; the motor power supply board supplies power to the motor control board, the motor driver board, and the motor.

[0102] According to the embodiment of the present invention, Figure 10 is one of the schematic diagrams of the end effector assembly of a three-degree-of-freedom teleoperation force-feedback master hand. As Figure 10 shown, the end effector assembly includes an end effector main body 31, an end effector control 32, and an end effector assembly zero-position calibration position 311; a touch module 3211 and / or at least two operation buttons 3212 are provided on the end effector control 32; at least two operation buttons 3212 are provided on the end effector assembly 3, and the operation buttons 3212 are used to control the electrical, hydraulic, or pneumatic tools attached to the slave robot.

[0103] Among them, the touch module 3211 can obtain the current state of the teleoperation master hand. Specifically, when the operator operates the master hand, the touch module 3211 senses that the end operation component is used, causing the teleoperation master hand to enter the usage state. When the operator is not operating the master hand, the touch module 3211 does not sense, causing the teleoperation master hand to switch to the hovering state, waiting for the operator to use it.

[0104] Furthermore, Figure 11 It is the second schematic diagram of the end operation component of the three-degree-of-freedom teleoperation force feedback master hand. An end operation control board 3111 and a wireless communication module 3112 are provided on the end operation main body 31.

[0105] Among them, the end operation control board 3111 communicates with each joint motor control board through the third joint component 7, the second joint component 6, and the first joint component 5. Specifically, the data line is connected to the joint motor control board through the slip ring 11 of each joint component. The non-contact angle encoder 12 of each joint motor obtains the mechanical angle and electrical angle of the motor in real time, and through connection with the corresponding motor control board, controls the motor output torque in real time and sends the angle information to the end operation control board 3111 through the control board.

[0106] Among them, the wireless communication module 3112 sends the expected force information passively received by the master hand and the motion information of the first, second, and third joint components collected to the teleoperation robot system; receives the feedback force information from the teleoperation robot system in real time, and enables the motors of the first, second, and third joint components to output torque in real time, providing feedback force to the operator through the master hand. Specifically, the operation mode of the three-degree-of-freedom teleoperation force feedback master hand can be switched through the instructions of the teleoperation robot system.

[0107] It should be noted that the operation mode of the three-degree-of-freedom teleoperation force feedback master hand can be divided into a spatial position mode and a spatial attitude mode. In the spatial position mode, the three degrees of freedom of the teleoperation master hand correspond to the three degrees of freedom at a spatial point position, and by rotating the amplitudes of the three joint angles, the position of the spatial point is incrementally moved. In the spatial attitude mode, the three degrees of freedom of the teleoperation master hand correspond to the three degrees of freedom at a spatial point attitude, and by rotating the three joints, the attitude of the spatial point is rotated. The spatial attitude mode can also map to the joints of an industrial robot with the same configuration, and the angles of the three joints are mapped to the angles of the three joints of the end pose adjustment mechanism of the industrial robot by rotating the angles of the three joints.

[0108] Exemplarily, for some six-degree-of-freedom or seven-degree-of-freedom industrial robots, the pose transformation of a spatial point mainly depends on the last three degrees of freedom of the joints. The rotation axes of these three joints intersect pairwise and are perpendicular to each other, corresponding to the three joints of the three-degree-of-freedom teleoperation force feedback master hand of the present invention, and can be mapped and controlled through the teleoperation master hand.

[0109] Among them, the force sense information of the slave robot or the reaction force of the virtual scene sends feedback force information to the end effector 3 through the teleoperation robot system, and feeds back the force condition of the slave robot to the operator in a tactilely perceivable form to provide the operator with a sense of presence. Specifically, the wireless communication module 3112 receives the command information and transmits it to the end operation control board 3111; the end operation control board 3111 processes the command, communicates with each joint motor control board for the force feedback command, and controls the output torque of the joint motor in real time; the torsion direction of the end effector 3 is the same as the external force received by the slave robot or the virtual scene in the actual environment, and the feedback force has a linear relationship with the external force received by the slave robot or the virtual scene.

[0110] In the three-degree-of-freedom teleoperation force feedback master hand provided by the embodiment of the present invention, in order to enable the robot to have good stability and dynamic performance during movement, the three-degree-of-freedom teleoperation force feedback master hand adopts dynamic control; as Figure 12 is a schematic diagram of the usage state process of the three-degree-of-freedom teleoperation force feedback master hand. In the usage state of the three-degree-of-freedom teleoperation force feedback master hand, initialization is first performed to make the output torques of the three joint motors provide a known force for the operator, and the known force is a manually set value in actual operation; the operator applies an expected force to the three-degree-of-freedom teleoperation force feedback master hand, and the master hand passively accepts the expected force; the angles of the first, second, and third joint motors are collected as known parameters for the dynamic control of the three-degree-of-freedom teleoperation force feedback master hand; the magnitude of the expected force received by the end effector 3 is used as a known parameter, and through the dynamic control of the three-degree-of-freedom teleoperation force feedback master hand, the required output torque value of the joint motor, the expected force of the end effector 3, and the movement information of the end effector 3 are calculated in real time; the calculated torque value is provided in real time through the current control of the joint motor; the expected force information and movement information of the three-degree-of-freedom teleoperation force feedback master hand are sent to the teleoperation robot system through the wireless communication module 3112 of the end component 3 to remotely control the slave robot.

[0111] Further, the wireless communication module 3112 of the end effector assembly 3 receives the feedback force information and motion information sent by the teleoperation robot system; the angles of the first, second, and third joint motors are collected as known parameters for the dynamic control of the three-degree-of-freedom teleoperation force feedback master hand, and the current values of the first, second, and third joint motors are collected as known parameters for the joint motor current control; the three-degree-of-freedom teleoperation force feedback master hand performs dynamic control, where the magnitude of the feedback force required by the end effector assembly 3 is used as a known parameter to calculate in real time the torque value required by the joint motor and the motion information of the end effector assembly 3; the calculated torque value is provided in real time through the current control of the joint motor; the three-degree-of-freedom teleoperation force feedback master hand provides a feedback force to the operator, enabling the operator to have a force sense of presence; the operator can continue to apply an expected force to the three-degree-of-freedom teleoperation force feedback master hand, and the master hand passively receives the expected force, thus forming a force sense control closed loop.

[0112] It should be noted that the expected force received by the three-degree-of-freedom teleoperation force feedback master hand has a linear relationship with the expected force actually output by the slave robot during actual operation; the feedback force actually received by the slave robot during actual operation has a linear relationship with the feedback force provided by the three-degree-of-freedom teleoperation force feedback master hand.

[0113] Specifically, the dynamic control of the three-degree-of-freedom teleoperation force feedback master hand includes the following steps:

[0114] Step1: Construct a D-H coordinate system and a kinematic matrix according to the master hand configuration and parameters;

[0115] Step2: Collect the angle θ information of the joint motor in real time;

[0116] Step3: Construct a master hand dynamics model through Lagrangian mechanics equations;

[0117] Step4: Solve the Euler-Lagrange equation by combining geometric and algebraic methods to obtain the motor output torque value;

[0118] Further, Figure 13It is a schematic diagram of the coordinate systems of each joint of a three - degree - of - freedom teleoperation force - feedback master hand. The base coordinate system is x0y0z0, the first joint coordinate system is x1y1z1, the first joint link coordinate system is x2y2z2, the second joint coordinate system is x3y3z3, the second joint link coordinate system is x4y4z4, the third joint coordinate system is x5y5z5, and the coordinate system of the end - effector 3 is x6y6z6. Among them, the first joint link coordinate system x2y2z2 and the second joint link coordinate system x4y4z4 are intermediate coordinate systems, which are for better dynamic control of the three - degree - of - freedom teleoperation force - feedback master hand. Specifically, the transformation matrices from the base coordinate system to the first joint coordinate system, from the first joint link coordinate system to the second joint coordinate system, and from the second joint link coordinate system to the third joint coordinate system are fixed homogeneous transformation matrices.

[0119] Specifically, the distance from the origin of the base coordinate system to the origin of the first joint coordinate system along the positive direction of the z0 axis is d0, the distance from the origin of the first joint coordinate system to the origin of the first joint link coordinate system along the positive direction of the x1 axis is a1, the distance from the origin of the first joint link coordinate system to the origin of the second joint coordinate system along the positive direction of the z2 axis is d1, the distance from the origin of the second joint coordinate system to the origin of the second joint link coordinate system along the positive direction of the x3 axis is a2, the distance from the origin of the second joint link coordinate system to the origin of the third joint link coordinate system along the positive direction of the z4 axis is d2, and the distance from the origin of the third joint coordinate system to the origin of the end - effector 3 coordinate system along the positive direction of the z5 axis is d3.

[0120] Furthermore, according to the homogeneous transformation equation between the link coordinate systems, the homogeneous transformation matrix of the end coordinate system relative to the base coordinate system can be obtained Satisfying formula (1):

[0121]

[0122] Among them, represents the homogeneous coordinate transformation matrix between two adjacent link coordinate systems; is a fixed transformation matrix and is not used as a rotating joint for the convenience of subsequent solution of the dynamic equations.

[0123] Furthermore, the non - contact encoder 22 measures the angles of the three joint motors θ1, θ2, θ3, and the generalized coordinate point is set as the centroid of the end - effector, and the coordinates are defined as P=(P x 、P y 、P z ).

[0124] Furthermore, a generalized coordinate system including the point P and θ1, θ2, θ3 can be calculated from formula (1) and used as three constraint equations Γ i ; The Lagrangian function formula (2):

[0125] L = K - P (2)

[0126] Wherein, K is the system kinetic energy of the three - degree - of - freedom teleoperation force - feedback master hand; P is the system potential energy of the three - degree - of - freedom teleoperation force - feedback master hand.

[0127] Furthermore, the first - type Lagrange equation (3) is adopted to perform dynamic modeling on the three - degree - of - freedom teleoperation force - feedback master hand:

[0128]

[0129] Furthermore, the moving parts of the three - degree - of - freedom teleoperation force - feedback master hand include: the part of the first - joint link assembly 5 excluding the first - joint motor 51 and the first - joint motor base 52, the second - joint link assembly 6, the third - joint assembly 7, and the end - effector assembly 3; the system kinetic energy includes the kinetic energy of all moving components and can be expressed as formula (4):

[0130]

[0131] Furthermore, the system potential energy includes the potential energy of all moving components and can be expressed as formula (5):

[0132]

[0133] Furthermore, substituting formulas (4) and (5) into formula (2) gives the Lagrange equation. Substituting q j =(P x , P y , P z ) into formula (3), where Q j =(F x , F y , F z ), the Lagrange operators λ1, λ2, and λ3 can be obtained.

[0134] Furthermore, substituting q j =(θ1, θ2, θ3) into formula (3), where Q j =(τ1, τ2, τ3), the output torque values τ1, τ2, and τ3 of the joint motors can be obtained.

[0135] In the three - degree - of - freedom teleoperation force - feedback master hand provided by the embodiment of the present invention, as Figures 7 - 10 shown, the support body 111, the first - joint assembly 5, the second - joint assembly 6, and the end - effector assembly 3 are all provided with zero - position calibration positions.

[0136] It should be noted that, in order to better control the slave robot, a zero-position calibration position is provided on the three-degree-of-freedom teleoperation force feedback master hand, which is convenient for setting and calibrating the zero position of the joint motors of the operating device 2; multiple zero-position calibration clamping positions can be set on the first joint assembly 5, the second joint assembly 6 and the end operating assembly 3 to achieve a better control effect; the zero-position setting of the joint motors of the operating device 2 only needs to be done during the initial or re-setting. The zero-position calibration clamping position is strip-shaped. The zero-position calibration clamping position of the support assembly 11 is provided at the upper end of the support body 111. The zero-position calibration clamping positions of the first joint assembly 5 are provided at both of its ends and each has two. The zero-position calibration clamping positions of the second joint assembly 6 are also provided at both of its ends and each has two. When the first joint assembly 5 rotates relative to the support assembly 11 to the zero position, it is necessary to ensure that their corresponding strip-shaped zero-position calibration clamping positions are aligned. Similarly, when the second joint assembly 6 rotates relative to the first joint assembly 5 to the zero position, it is necessary to ensure that their corresponding strip-shaped zero-position calibration clamping positions are aligned.

[0137] Specifically, Figure 14 is a schematic diagram of the zero-position calibration buckle 8 of the three-degree-of-freedom teleoperation force feedback master hand. The zero-position calibration buckle 8 is a cuboid block, and its bottom has a cuboid groove, and the shape and size of the cuboid groove are equivalent to those of the strip-shaped zero-position calibration clamping position.

[0138] Specifically, the zero-position calibration operation of the three-degree-of-freedom teleoperation force feedback master hand includes:

[0139] Step1: Install the first joint assembly 5 on the support assembly 11, initialize the first joint motor 51, install the zero-position calibration buckle 8, and obtain the zero-position calibration value of the first joint motor 51;

[0140] Step2: Install the second joint assembly 6 on the first joint assembly 5, initialize the second joint motor 61, install the zero-position calibration buckle 8, and obtain the zero-position calibration value of the second joint motor 61;

[0141] Step3: Install the third joint assembly 7 on the second joint assembly 6, initialize the third joint motor 71, install the zero-position calibration buckle 8, and obtain the zero-position calibration value of the third joint motor 71.

[0142] It should be noted that the zero-position calibration buckle 7 can be of other structural forms, or a structure that can align the zero-position calibration clamping positions of two adjacent joint assemblies is sufficient.

[0143] In the three-degree-of-freedom teleoperation force feedback master hand provided by the embodiment of the present invention, Figure 15 is the second schematic diagram of the operating device of the three-degree-of-freedom teleoperation force feedback master hand, as Figure 13As shown, the central axes of the first joint motor 51, the second joint motor 61, and the third joint motor 71 intersect at a point O. Intersecting at a point O can overcome and avoid the interference problems that exist when the first joint assembly 5, the second joint assembly 6, and the third joint assembly 7 drive the end effector assembly 3 to move.

[0144] It should be noted that the manipulation device 2 is composed of the first joint assembly 5, the second joint assembly 6, and the third joint assembly 7, has three degrees of freedom, and integrates motor control, drive, and power supply, with the characteristics of small weight, simple structure, and easy installation. The manipulation device 2 can be installed on the end of other master hands, or the structure of the end effector assembly 3 can be replaced to achieve a better effect of controlling the slave robot.

[0145] The three-degree-of-freedom teleoperation force feedback master hand provided by the embodiment of the present invention usually weighs less than 1.5 Kg. Due to its small size and light weight, it has high portability. The three-degree-of-freedom teleoperation force feedback master hand of the present invention can meet the requirements of industrial robots, and can also be competent for more complex occasions by optimizing and adjusting parameters or replacing the end effector assembly.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Any changes made to the technical solutions of the present invention that do not exceed the scope of the technical solutions of the present invention in terms of the functions and effects produced belong to the protection scope of the present invention.

Claims

1. A three-degree-of-freedom teleoperation force-feedback master hand, characterized in that, It includes a base, a manipulation device and an end effector assembly; the base includes a chassis and a support assembly; the manipulation device includes a first joint assembly, a second joint assembly and a third joint assembly. The first, second and third joint assemblies are sequentially and rotatably fixed end to end to form three degrees of freedom, and each joint is driven by a brushless DC motor. The first joint assembly includes a first joint motor, a first joint motor base, a first joint link, a first joint housing and a second joint drive; the second joint drive is connected to the first joint link. The second joint assembly includes a second joint motor, a second joint link, a second joint housing and a third joint drive; the third joint drive is connected to the second joint link. The first joint motor is used to drive the first joint link so that the end effector assembly can move around a first direction; the second joint motor is used to drive the second joint link so that the end effector assembly can move around a second direction. The third joint motor is used to drive the end effector assembly so that it can rotate around a third direction. The center lines of the first joint motor, the second joint motor and the third joint motor intersect at a point. According to the operation requirements, the three-degree-of-freedom teleoperation force feedback master manipulator makes the first, second and third joint assembly motors output torques to provide a known force during the work initialization stage. This known force is a manually set value in actual operation; the three-degree-of-freedom teleoperation force feedback master manipulator passively receives the desired force, collects the motion information of the first, second and third joint assemblies, and then transmits the received desired force information and motion information through the end effector assembly; the end effector assembly receives the transmitted feedback force information, makes the first, second and third joint assembly motors output torques in real time, and then actively provides the feedback force through the three-degree-of-freedom teleoperation force feedback master manipulator.

2. The three-degree-of-freedom teleoperation force feedback master hand according to claim 1, wherein The three-degree-of-freedom teleoperation force feedback master manipulator adopts dynamic control; the first, second and third joint assemblies all rotate around their own z axes; the dynamic control of the three-degree-of-freedom teleoperation force feedback master manipulator includes the following steps: A1. Construct a D-H coordinate system and a kinematic matrix according to the master manipulator configuration and parameters. A2. Real-time collect the angle θ information of the joint motors. A3. Construct a master manipulator dynamics model through Lagrangian mechanics equations. A4. Solve the Euler-Lagrange equation by combining geometric methods and algebraic methods to obtain the motor output torque value.

3. The three-degree-of-freedom teleoperation force feedback master hand according to claim 1, wherein The chassis is connected to the support assembly; the first joint assembly is connected to the support assembly; the end effector assembly is connected to the third joint assembly; the support assembly includes a support body, a support housing, a master manipulator power board and a first joint motor driver. The first joint motor driver is connected to the support body.

4. The three-degree-of-freedom teleoperation force-feedback master hand according to claim 1, 2 or 3, characterized in that, The joint drive includes a motor control board, a motor drive board and a motor power board. The first joint drive drives and controls the first joint motor to drive the first joint link to rotate. The second joint drive drives and controls the second joint motor to drive the second joint link to rotate. The third joint driving member drives and controls the third joint motor to drive the end operating assembly to rotate.

5. The three-degree-of-freedom teleoperation force feedback master hand according to claim 1, characterized in that, The support assembly, the first joint assembly, the second joint assembly, and the end operating assembly are all provided with zero-position calibration positions; The zero-position calibration positions are strip-shaped. The zero-position calibration position of the support assembly 11 is provided at the upper end of the support body 111. The zero-position calibration positions of the first joint assembly 5 are provided at both ends thereof and each has two. The zero-position calibration positions of the second joint assembly 6 are also provided at both ends thereof and each has two. When the first joint assembly 5 rotates relative to the support assembly 11 to the zero position, it is necessary to ensure that their corresponding strip-shaped zero-position calibration positions are aligned. Similarly, when the second joint assembly 6 rotates relative to the first joint assembly 5 to the zero position, it is necessary to ensure that their corresponding strip-shaped zero-position calibration positions are aligned.

6. The three-degree-of-freedom teleoperation force feedback master hand according to claim 5, wherein The zero-position calibration position is covered with a zero-position calibration buckle during zero-position calibration. The zero-position calibration buckle is a cuboid block, and its bottom has a cuboid groove, and the shape and size of the cuboid groove are equivalent to those of the strip-shaped zero-position calibration position; The zero-position calibration operation of the three-degree-of-freedom teleoperation force feedback master hand includes the following steps: B1. Install the first joint assembly on the support assembly, initialize the first joint motor, install the zero-position calibration buckle, and obtain the zero-position calibration value of the first joint motor; B2. Install the second joint assembly on the first joint assembly, initialize the second joint motor, install the zero-position calibration buckle, and obtain the zero-position calibration value of the second joint motor; B3. Install the third joint assembly on the second joint assembly, initialize the third joint motor, install the zero-position calibration buckle, and obtain the zero-position calibration value of the third joint motor.

7. The three-degree-of-freedom teleoperation force feedback master hand according to claim 1, characterized in that The end operating assembly is provided with an end operating assembly control board, a wireless communication module, a touch module, and / or at least two operation buttons; the wireless communication module transmits the expected force passively received by the three-degree-of-freedom teleoperation force feedback master hand outward; the wireless communication module receives the feedback force transmitted externally; non-contact angular encoders are provided on the first joint motor, the second joint motor, and the third joint motor.

8. The three-degree-of-freedom teleoperation force feedback master hand according to claim 2, wherein, The solution method of A1 includes the following steps: A11. According to the homogeneous transformation equation between the link coordinate systems, the homogeneous transformation matrix of the end coordinate system relative to the base coordinate system can be obtained. Satisfy formula (1): Among them, represents the homogeneous coordinate transformation matrix between two adjacent link coordinate systems; is a fixed transformation matrix, not used as a rotational joint, for the convenience of subsequent solving of the dynamic equations.

9. The three-degree-of-freedom teleoperation force feedback master hand according to claim 2, wherein, The solution method of A3 includes the following steps: A31. Set the generalized coordinate point as the centroid of the end effector assembly, and the coordinates are defined as P = (P x , P y , P z ), and the angular values measured by the non-contact encoders at the three joints are θ1, θ2, and θ3 respectively; A32. A generalized coordinate system including point P and θ1, θ2, θ3 is set up, which can be calculated by formula (1) and used as three constraint equations Γ i ; Lagrangian function formula (2): L = K - P (2) Wherein, K is the system kinetic energy of the three-degree-of-freedom teleoperation force feedback master hand; P is the system potential energy of the three-degree-of-freedom teleoperation force feedback master hand; A33. Adopt the first type formula (3) of the Lagrange equation to model the three-degree-of-freedom teleoperation force feedback master hand:

10. The three-degree-of-freedom teleoperation force feedback master hand according to claim 2, characterized in that, The solution method of A4 includes the following steps: A41. For the three-degree-of-freedom teleoperation force feedback master hand in motion, the system kinetic energy includes the motion kinetic energy of all moving parts and can be expressed as formula (4): A42. For the three-degree-of-freedom teleoperation force feedback master hand in motion, the system potential energy includes the potential energy of all moving parts and can be expressed as formula (5): A43. Substituting formulas (4) and (5) into formula (2) gives the Lagrange equation. Substituting q j =(P x , P y , P z ) into formula (3), where Q j =(F x , F y , F z ), the Lagrange multipliers λ1, λ2, and λ3 can be obtained; A44. Substitute q j =(θ1, θ2, θ3) into formula (3), where Q j =(τ1, τ2, τ3), and then the output torque values τ1, τ2, τ3 of the joint motors can be obtained.

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