CN105835086A - Series-parallel 6-degree-of-freedom force feedback mechanical arm - Google Patents
Series-parallel 6-degree-of-freedom force feedback mechanical arm Download PDFInfo
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- CN105835086A CN105835086A CN201610312877.3A CN201610312877A CN105835086A CN 105835086 A CN105835086 A CN 105835086A CN 201610312877 A CN201610312877 A CN 201610312877A CN 105835086 A CN105835086 A CN 105835086A
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- disk
- force feedback
- platform
- parallel
- supporting frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a series-parallel 6-degree-of-freedom force feedback mechanical arm. The mechanical arm comprises a base mechanism, a parallel mechanism arranged on the base mechanism and a series mechanism arranged at the tail end of the parallel mechanism, wherein the parallel mechanism comprises a fixed platform, three branch chains and a floating platform; the fixed platform is fixed on the base mechanism; one end of each branch chain is movably connected with the front side of the fixed platform; the floating platform is movably connected with the other end of each branch chain; a driving execution element which is in driving connection with all the branch chains through a transmission device is also arranged on the fixed platform; the series mechanism comprises a three-dimensional force sensor and a handle mechanism which are sequentially arranged on the floating platform; the handle mechanism has three degrees of rotating freedom; and sensors are arranged at the tail end of the driving execution element and the handle mechanism. The mechanical arm provided by the invention has the advantages that 6-degree-of-freedom motion input is provided; the spatial position and posture of a hand of an operator can be flexibly captured; a very good hardware platform for simulation in a virtual environment, especially style design simulation, is provided; and the structure is compact, the motion space is suitable, the rigidity is high and the motion is flexible.
Description
Technical field
The present invention relates to a kind of device for force feedback, particularly relate to a kind of series parallel type 6DOF power anti-
Feedback mechanical arm, its can the locus of capture operation person's hand and attitude, for Virtual design model
Mutual in design.
Background technology
Virtual design model design, be virtual reality technology in one of important application manufacturing and designing industry,
Shape-designing personnel interact with virtual environment by virtual reality system, can carry out moulding
Design, analog simulation, performance evaluation, model modification etc..Compared to traditional CAD software
Modeling and Design, the Virtual design model designing technique by means of virtual reality system can make shape-designing
More directly perceived, succinct, it is more beneficial for designer and design philosophy is expressed rapidly.Wherein power is felt
Interaction technique is the key technology in Virtual design model design, improve originally simple rely on vision and
The man-machine interaction of audible reproduction equipment, makes the most more reliable, true of people and virtual world,
Virtual design can be made more to have the property immersed, imagination property and friendship on the basis of vision, audition
Property mutually.And force sense interactive device is designer carries out connecing of dynamic sensing interexchanging with reality environment
Mouthful, it is the important component part in System of Virtual Reality Technology.Thus the setting of force sense interactive device
Meter becomes System of Virtual Reality Technology and has the key of higher verity and interactivity.
Many colleges and universities and institute has been had to open in the research being engaged in force feedback equipment both at home and abroad at present
Sending out work, through finding the literature search of prior art, U.S. Force Dimension is public
The Delta series of products of department, its design is a kind of freedom degree parallel connection formula force feedback machinery
Arm, has three freedoms of motion, is respectively provided with feedback force on three freedoms of motion, but should
Equipment work space is the least, and only has three freedoms of motion, it is impossible to meet shape-designing people
Member in working place hand rotate freely motion, and owing to using the particularity of material to cause
Product facility is expensive；Chinese Patent Application No. 201510033110.2, entitled: a kind of
The seven freedom force feedback remote operating hands of switchable type, this patent have seven freedoms of motion and
Seven freedoms of motion are respectively provided with force feedback, but the motor installed in operational tip causes whole
The movement inertia of individual equipment and design impedance are relatively big, had a strong impact on equipment accuracy location and
Real-time is mutual；Chinese Patent Application No. 201310042090.6, entitled: a kind of connection in series-parallel
Force feedback remote operating hands, this patent has 6 freedoms of motion, has on 3 degree of freedom
Feedback force, and carried out gravitational equilibrium compensation by balancing weight on the series connection 3DOF of end,
But the balance weight mechanism of end result in the compactest of equipment end structure, kinematic dexterity reduces.
Summary of the invention
It is an object of the invention to the shortcomings and deficiencies for prior art, it is provided that a kind of simple in construction
Compact, flexible, with low cost, the range of movement of moving is suitable, rigidity is higher, can make with virtual
Rigidity big to interactive device in type design application, range of movement require relatively low, motion flexibly etc. to want
Ask and match, reality environment with shape-designing can carry out the series-parallel connection of dynamic sensing interexchanging in real time
Formula 6DOF force feedback manipulator.
The technical solution adopted in the present invention is:
A kind of series parallel type 6DOF force feedback manipulator, including base mechanism, be arranged on described
Parallel institution on base mechanism, be arranged at the serial mechanism of parallel institution end, described also
Online structure includes that the fixed platform being fixed on described base mechanism, three one end are fixing with described
The floating platform that the side chain that platform front is flexibly connected is flexibly connected with described each side chain other end,
Described floating platform has three one-movement-freedom-degrees, described fixed platform is additionally provided with by passing
Dynamic device respectively with the driving executive component of each side chain drive connection；
Described serial mechanism includes the three-dimensional force sensing being successively set on described floating platform
Device, there is the handle mechanism of three rotary freedoms；
Be provided with on described driving executive component, handle mechanism for obtain hand spatial attitude and
The sensor of locus.
Further, each side chain is all included a parallel-crank mechanism, is rotated even by bearing
It is connected to the first extension rod in the middle part of described parallel-crank mechanism two relative edge and the second extension rod,
The described first extension rod other end passes through the first rotary shaft and is fixed on above-mentioned fixed platform front
Two the first bracing frames be movably hinged, the other end of described second extension rod and described floating are put down
Platform is fixing to be connected.
Further, described parallel-crank mechanism includes two the second rotations be arrangeding in parallel
Axle, two the first rod members be arrangeding in parallel, the two ends of two second rotary shafts are fixedly installed respectively
Having angle joint, the two ends of described first rod member are by bearing and the corner connection at the two ends of the second rotary shaft
Head is rotatably connected.
Further, described driving executive component is fixed on described fixing flat by the second bracing frame
The platform back side.
Further, described driving executive component is for there being brush drag cup DC servo motor.
Further, described actuating device include the drivewheel that connected by Steel rope drive and
Semicircle reduction driven wheel, described drivewheel is arranged on described driving executive component output shaft front end,
Described semicircle reduction driven wheel is rotated by the first rotary shaft and is arranged on two the first bracing frames
Between, described semicircle reduction driven wheel diameter direction is fixing with described first extension rod to be connected.
Further, described handle mechanism includes being provided with the cross supporting frame of vertical edge, orthogonal
Ground rotate be arranged on described cross supporting frame X-axis rotary part, Y-axis rotary part,
Rotating and be arranged on the Z axis rotary part on above-mentioned Y-axis rotary part, described X-axis rotates
Parts include the first disk being rotatably connected respectively with the described relative vertical edge of cross supporting frame two
With the second disk, connect by support column is fixing between described first disk and the second disk, institute
State Y-axis rotary part and include that another opposed vertical limit with described cross supporting frame is rotatably connected
Cross spill spin block, the U-shaped spill spin block being rotatably connected with the described another two ends of cross spill spin block,
Described Z axis rotary part includes being rotatably arranged at the operation in the middle part of described U-shaped spill spin block
Handle, described operation handle is tangentially folded between two support columns.
Further, after described sensor includes being arranged at described driving executive component output shaft
End the first sensing detection element, be arranged at described cross supporting frame side for detection first circle
Dish and the 4th sensing detection element of the second disk rotational, it is arranged at the another of described cross supporting frame
Side is for detecting the 5th sensing detection element of cross spill spin block rotation, being arranged on described U
For detecting the 6th sensing detection element of the rotation of operation handle on shape spill spin block.
Further, the first described sensing detection element is photoelectric rotary coder, described
4th sensing detection element, the 5th sensing detection element, the 6th sensing detection element are angle electricity
Position device.
Further, described fixed platform is provided with the first limited block, described semicircle deceleration
On driven pulley spoke, arcuately track is evenly arranged with some for installing by certain angle interval
The regulation screwed hole of stop screw；Described cross supporting frame connects the first disk or the second disk
The second limited block it is provided with, by certain angle on described first circle or the second disk inside vertical edge
Degree interval is evenly arranged with some regulation screwed holes for installing stop screw.
Compared to existing technology, the invention has the beneficial effects as follows:
1, present invention structure in parallel and the mixing of cascaded structure so that series parallel type 6 is freely
It is big that degree force feedback arm is provided with parallel institution rigidity simultaneously, and serial mechanism moves feature flexibly.
On the premise of meeting the Work Space Range that Virtual design model design is wanted so that mechanism has
Bigger rigidity and kinematic dexterity.
2, the tail house of the present invention is the serial mechanism of three degree of freedom, three freedom of motion
The axis of movement of degree intersects at a point, and the 5th freedom of motion is in the 4th freedom of motion
Among first, second disk of degree, so that distal point distance parallel institution and serial mechanism
Intersection point distance closer to, feedback force is truer.
3, the motion between drivewheel and reduction driven are taken turns in the drive mechanism in the present invention and moment
Passing through steel wire rope to realize, wire rope gearing overcomes conventional gears transmission etc. drive gap
Impact, shackle line arranges the tensioning of appropriateness, it is to avoid it skids, and simultaneously also to make it have longer
Life-span.
4, operational tip do not contain balance weight mechanism or motor, reduce whole equipment movement inertia and
Movement resistance, ensures that accuracy location, kinematic dexterity and the real-time of equipment is mutual.
5, simple in construction, low cost, convenient for installation and maintenance.
Accompanying drawing explanation
Fig. 1 is the population structure schematic diagram of the embodiment of the present invention.
Fig. 2 is the detailed maps of Fig. 1 inventive embodiments population structure.
Fig. 3 is the detailed maps of another visual angle population structure of the embodiment of the present invention.
Fig. 4 is the parallel institution structural representation of the embodiment of the present invention.
Fig. 5 is one branched structure schematic diagram of parallel institution of the embodiment of the present invention.
Fig. 6 is the structural representation of the base mechanism of the embodiment of the present invention.
Fig. 7 is the serial mechanism structural representation of the embodiment of the present invention.
Fig. 8 be the cross supporting frame of the serial mechanism of the embodiment of the present invention, the first disk, second
Disk, support column, the 4th sensing detection element, the connection diagram of the 5th sensing detection element.
Fig. 9 is the cross supporting frame of the serial mechanism of the embodiment of the present invention, cross spill spin block, U
Shape spill spin block, operation handle, the 5th sensing detection element, the connection of the 6th sensing detection element
Schematic diagram.
Figure 10 is the structural representation of the floating platform of the embodiment of the present invention.
Shown in figure be: 1. support seat, 2. parallel institution, 3. serial mechanism, 11. first support seats,
12. second support seats, 13. the 3rd support seats, 211. fixed platforms, 212. first bracing frames, 213.
First rotary shaft, 214. floating platforms, 215. second extension rods, 221. semicircle reduction driven
Wheel, 222. first extension rods, 223. second rotary shafts, 224. first rod members, 225. angle joints,
226. wrapping posts, 231. second bracing frames, 232. servomotors, 233. encoders, 234. actives
Wheel, 235. first limited blocks, 311. cross supporting frames, 312. first disks, 313. second disks,
314. support columns, 315. second limited blocks, 321. cross spill spin blocks, 322.U shape spill spin block, 331.
Operation handle, 341. fourth angle sensors, 342. the 5th angular transducers, 343. hexagonals
Degree sensor, 41. three-dimensional force sensors, 51. drive lines fix male screw hole, 52. limited posts are adjusted
Joint screwed hole, 53. cylindricality counterbores.
Detailed description of the invention
Below in conjunction with the accompanying drawings embodiments of the invention are elaborated: the present embodiment is with this
Implement under premised on bright technical scheme, give detailed embodiment and concrete operation
Process, but protection scope of the present invention is not limited to following embodiment.
As depicted in figs. 1 and 2, a kind of series parallel type 6DOF force feedback manipulator, the end of including
Seat mechanism 1, parallel institution 2 on the base unit is set, it is arranged at parallel institution 2 end
Serial mechanism.
As shown in Figure 6, described base mechanism 1 includes the first support seat placed in the horizontal plane
11, support, by screw and first, the second support seat 12 that seat 11 connects, by bolt and the
Two support the 3rd support seat 13 that seat 12 connects, and three support seats constitute one and are placed on water
In plane, for the cantilever beam of supports in parallel mechanism 2.
In conjunction with Fig. 3, Fig. 4 and Fig. 5, described parallel institution 2 includes being fixed on described base
211, three one end of fixed platform in mechanism 1 are with the activity of described fixed platform 211 front even
The floating platform 214 that the side chain connect is flexibly connected with described each side chain other end, described floating
Platform 214 has three one-movement-freedom-degrees, described fixed platform 211 is additionally provided with by passing
Dynamic device respectively with the driving executive component of each side chain drive connection, described driving executive component
232 for there being brush drag cup DC servo motor.Described fixed platform 211 is by bolt and the 3rd
Support the fixing connection of seat 13, be three between described fixed platform 211 and floating platform 214
Duplicate side chain, described actuating device includes drivewheel 234 and semicircle reduction driven wheel
221, described drivewheel 234 is connected with the front end output shaft driving executive component 232 by screw
Connecing, the end output shaft of described driving executive component 232 and the first sensing detection element 233 are even
Connect, drive executive component 232 to be fixed in fixed platform 211 by the second bracing frame 231,
Described semicircle reduction driven wheel 221 is rotationally connected by bearing and the first rotary shaft 213, institute
State the first rotary shaft 213 to be fixed on two the first bracing frames 212, two the first bracing frames
212 are all fixed by screws in fixed platform 211, described semicircle reduction driven wheel 211
It is provided with wire casing on spoke, and is symmetrically arranged with two wrapping posts 226 and two drive lines are fixed
Male screw hole 51, shackle line is close to semicircle after drivewheel 234 is taken turns and is wound around a few
The wire casing of reduction driven wheel 211 is wound around on the wrapping post 226 of semicircle reduction driven wheel 211
After be fixed by screws on fixing male screw hole 51.Being provided with of wrapping post 226 beneficially passes
The fastening of moving-wire and make drive line difficultly slip off；Arrange at the back side of described fixed platform 211
Having the first limited block 235, described semicircle reduction driven is taken turns on 211 spokes arcuately track and is pressed
15 degree equiangularly spaced is machined with some stop screws for having installed limited post effect
Screwed hole 52, described first limited block 235 coordinates to regulate semicircle with described stop screw
The range of movement of shape reduction driven wheel 211.Diameter at described semicircle reduction driven wheel 221
Direction is provided with the first extension rod 222 by bolt, and described first extension rod 222 passes through zanjon
Ball bearing and the second rotary shaft 223 are rotationally connected.It is provided with by bolt on floating platform 214
Second extension rod 215, the second extension rod 215 is by deep groove ball bearing and another second rotary shaft
223 transhipments connect, and the two ends of two the second rotary shafts 223 are all by screw and angle joint 225
Connect.The angle joint 225 of said two the second rotary shaft 223 corresponding end is all by deep-groove ball axle
Hold and be connected with the first rod member 224.In each described side chain, two the first rod members 224,
Four angle joints 225, two the second common structure of rotary shaft 223 four Bian Hang mechanisms parallel with.
As shown in Figure 7 to 9, described serial mechanism 3 includes that being successively set on described floating puts down
Three-dimensional force sensor 41 on platform 214, there is the handle mechanism of three rotary freedoms, institute
State three-dimensional force sensor 41 and be arranged on (see Figure 10) in the cylindricality counterbore 53 on floating platform 214,
Fix by bolt be connected with floating platform 214 and cross supporting frame 311.Described three-dimensional force passes
It is defeated that sensor 41 can measure tri-directions of series parallel type 6DOF force feedback manipulator X, Y, Z
The feedback force gone out, the feedback force measured feeds back in control system again, through defeated with desired
Exerting oneself after comparing, power output compensates in the controller so that the power output of reality with
Desired power output is more nearly.It is provided with cross supporting frame on described three-dimensional force sensor 41
311, the first disk 312 being rotatably connected with 311 liang of relative vertical edges of described cross supporting frame
With the second disk 313, between described first disk 312 and the second disk 313, pass through support column
314 fixing connect, and another two opposed vertical limit has been rotatably connected cross spill spin block 321, described
The another two ends of cross spill spin block 321 have been rotatably connected U-shaped spill spin block 322, described cross supporting frame
311 sides are provided with the 4th sensing inspection of detection the first disk 312 and the rotation of the second disk 313
Surveying element 341, the opposite side of described cross supporting frame 311 is provided with detection cross spill spin block 321
The 5th sensing detection element 342 rotated, described U-shaped spill spin block 322 is provided with the 6th biography
Sense detecting element 343, is connected with fixing with detection and the 6th sensing detection element 343 output shaft
Operation handle 331 rotation.
As shown in Figure 8, shown first disk 312 arcuately track is machined with by the interval of 15 degree
Some limited posts regulation screwed hole 54, for having installed the stop screw of position-limiting action, with
The inner side of the cross supporting frame 311 that described first disk is close, is provided with the second limited block 315,
Described second limited block 315 coordinates with stop screw, regulates the first disk 312 and the second disk
The range of movement of 313, described second disk 313 is fixed with support column 314 by screw.Institute
The outside stating the first disk 312 is provided with connection rotating shaft 353, and described connection rotating shaft 353 passes through
Deep groove ball bearing 351 is rotationally connected with cross supporting frame 311, outside described second disk 313
Side is provided with connecting bushing 354, and described connecting bushing 354 is provided circumferentially about screwed hole, with
The output shaft being arranged on the 4th sensing detection element 341 outside cross supporting frame 311 passes through spiral shell
Nail is fixing to be connected.
In the present embodiment, described first sensing detection element 233 is photoelectric rotary coder,
Described 4th sensing detection element 341, the 5th sensing detection element 342, the 6th sensing detection
Element 343 is angle potentiometer, is quick on the draw, and precision is high.
In the present embodiment, each gear reduction system of parallel institution connects three by shackle line
Drivewheel 234 and three semicircle reduction driven wheels 221, shackle line is at drivewheel 234
Helicla flute on be wound around a few after take turns on 221 wire casings and at semicircle around semicircle reduction driven
Fixing on shape reduction driven wheel 221, shackle line is to have high intensity and high antifatigue
7*7 steel wire rope；Serial mechanism 3 has three rotary freedoms, operator's hand can be detected
Up and down, the swing of left and right and the rotation three degree of freedom of hand, parallel institution 2 and cascade machine
Being used in mixed way of structure 3 so that equipment on the premise of there is big rigidity, suitable working place,
Operate more flexible.
The type of belt drive of the present embodiment is line transmission, is being led by the shackle line of tensioning
Transmitting movement and moment between driving wheel and each driven pulley.Line stable drive, inertia is little, without transmission between
Gap, without drive noise, with low cost, strainer is set and makes drive line appropriateness tensioning, can
Avoid transmission slip, shackle line can be made again to have longer service life.
It is an object of the invention to Virtual design model design in force feedback manipulator as alternately
Instrument interacts with reality environment, enables the system to detect the space bit of operator's hand
Put and spatial attitude, and obtain the feedback business at operation hand and robot contact, be wherein used for
Determine that on the parallel institution of operator's hand locus 3 degree of freedom have feedback force defeated
Going out, feedback force is matched with line gear reduction mechanism by DC servo motor and realizes, and is used for
Determine that the three degree of freedom of part in series of operator's hand spatial attitude is by three high accuracy
Photoelectric encoder detects, and provides a good hardware platform for the simulation in virtual environment,
Compact conformation, space are suitable for, rigidity is high, motion is flexible, and its work process and principle are such as
Under:
1, the spatial attitude of hand obtains
When operator's hand is pinched operation handle 331 and makes arm rotation, operate handle 331
Also rotation simultaneously, owing to operating the output shaft with the 6th sensing detection element 343 of handle 331
Fixing, and the shell of the 6th sensing detection element 343 is fixed on U-shaped spill spin block 322,
Thus the 6th sensing detection element 343 can detect the automatic motion of arm.When operator pinches
Operate handle 331 between the first disk 312 and the second disk 313 during the pendulum of left and right, manipulator
Handle 331, U-shaped spill spin block 322, cross spill spin block 321 do not have relative motion in the direction,
Thus this three rotates on cross supporting frame 311 as an entirety, due to cross spill spin block
321 coaxially fix with the output shaft of the 5th sensing detection element 342, thus the 5th sensing detection
Element just can detect the transhipment situation of cross spill spin block 321, namely hand swings angle
Change.When operator pinch operation handle 331 swing up and down time, due to operation handle 331 with
Support column 314 between first disk 312 and the second disk 313 is tangent, thus the first disk
312, the bottom gone up together by the second disk 313, due to the output of the 4th sensing detection element 341
Axle is coaxially fixed with the connecting bushing 354 being fixed on the first disk 312, thus the 4th sensing
Detecting element 341 just can detect the rotation situation of the first disk 312, namely the bottom on hand
Dynamic angle change.
2, the locus of hand obtains
When operator's operating robotic arm is moved in work space, parallel institution 2 floats flat
Platform 214 moves relative to fixed platform 211, connects floating platform 214 and fixed platform 211
Three identical side chains change relative angles, the generation of i.e. three semicircle reduction driven wheels 221
Angle changes, owing to semicircle reduction driven wheel 221 is by shackle line and drivewheel 234
Connect, thus drivewheel 234 also produces rotation, occurs corresponding angle to change, then with master
The change of corresponding angle is there is in driving wheel with the axle driving executive component 232 that 234 axles are fixing, with
Time also make to detect change with the first sensing detection element 233 driving executive component 232 coaxial
Angle.Three the first sensing detection elements 233 have detected three semicircle reduction driven respectively
The angle variate of wheel 221, by the computing of direct kinematics, just can calculate mechanical arm tail end
Position in space.
The above embodiment of the present invention is only for clearly demonstrating example of the present invention, and
It it is not the restriction to embodiments of the present invention.Those of ordinary skill in the field are come
Say, on the basis of the above description can be to make change or the variation of other forms.Here without
Need also to give exhaustive to all of embodiment.All within the spirit and principles in the present invention
Any amendment equivalent made and improvement etc., should be included in the guarantor of the claims in the present invention
Within the scope of protecting.
Claims (10)
1. a series parallel type 6DOF force feedback manipulator, including base mechanism (1), is arranged
Parallel institution (2) on described base mechanism (1), it is arranged at parallel institution (2) end
Serial mechanism (3), it is characterised in that:
Described parallel institution (2) includes the fixed platform being fixed on described base mechanism (1)
(211) side chain that, three one end are flexibly connected with described fixed platform (211) front and
The floating platform (214) that described each side chain other end is flexibly connected, described floating platform (214)
There are three one-movement-freedom-degrees, described fixed platform (211) is additionally provided with and is filled by transmission
Put respectively with the driving executive component of each side chain drive connection；
Described serial mechanism (3) includes being successively set on described floating platform (214)
Three-dimensional force sensor (41), there is the handle mechanism of three rotary freedoms；
Be provided with on described driving executive component, handle mechanism for obtain hand spatial attitude and
The sensor of locus.
The most according to claim a kind of series parallel type 6DOF force feedback manipulator, its
It is characterised by:
Each side chain all includes a parallel-crank mechanism, is rotationally connected with described putting down by bearing
The first extension rod (222) in the middle part of row quadrangular mechanism two relative edge and the second extension rod (215),
Described first extension rod (222) other end by the first rotary shaft (213) be fixed on above-mentioned
Two first bracing frames (212) in fixed platform (211) front are movably hinged, and described second
The other end of extension rod (215) is fixing with described floating platform (214) to be connected.
The most according to claim 2 kind of series parallel type 6DOF force feedback manipulator, its
It is characterised by:
Described parallel-crank mechanism include two the second rotary shafts (223) be arrangeding in parallel,
The first rod member (224) that two be arranged in parallel, the two ends of two second rotary shafts (223) are divided
Not being fixedly installed angle joint (225), bearing is passed through at the two ends of described first rod member (224)
It is rotatably connected with the angle joint (225) at the two ends of the second rotary shaft (223).
The most according to claim a kind of series parallel type 6DOF force feedback manipulator, its
It is characterised by:
Described driving executive component (232) is fixed on described fixing by the second bracing frame (231)
Platform (211) back side.
The most according to claim 4 kind of series parallel type 6DOF force feedback manipulator, its
It is characterised by: described driving executive component (232) is for there being brush drag cup DC servo motor.
The most according to claim 4 kind of series parallel type 6DOF force feedback manipulator, its
It is characterised by: described actuating device includes the drivewheel (234) connected by Steel rope drive
With semicircle reduction driven wheel (221), described drivewheel (234) is arranged on described driving and holds
Units (232) output shaft front end, described semicircle reduction driven wheel (221) is by first
Rotary shaft (213) rotates and is arranged between two the first bracing frames (212), described semicircle
Reduction driven wheel (221) diametric(al) is fixing with described first extension rod (222) to be connected.
The most according to claim 4 kind of series parallel type 6DOF force feedback manipulator, its
It is characterised by: described handle mechanism includes being provided with the cross supporting frame (311), just of vertical edge
Ground is handed over to rotate X-axis rotary part, the Y-axis rotation being arranged on described cross supporting frame (311)
Rotation member, rotation are arranged on the Z axis rotary part on above-mentioned Y-axis rotary part, described
X-axis rotary part includes rotating relative to vertical edge with described cross supporting frame (311) two respectively
The first disk (312) and the second disk (313) connected, described first disk (312) with
Connecting by support column (314) is fixing between second disk (313), described Y-axis rotates
Parts include ten that another opposed vertical limit with described cross supporting frame (311) is rotatably connected
Word spill spin block (321), the U-shaped that two ends another with described cross spill spin block (321) are rotatably connected
Spill spin block (322), described Z axis rotary part includes being rotatably arranged at the rotation of described U-shaped
The operation handle (331) at switch block (322) middle part, described operation handle (331) is tangentially pressed from both sides
Two support columns (314) being provided between the first disk (312), the second disk (313)
Between.
The most according to claim 7 kind of series parallel type 6DOF force feedback manipulator, its
It is characterised by: described sensor includes being arranged at the output of described driving executive component (232)
First sensing detection element (233) of shaft rear end, it is arranged at described cross supporting frame (311)
The 4th sensing inspection that side rotates for detection the first disk (312) and the second disk (313)
Survey element (341), be arranged at the opposite side of described cross supporting frame (311) for detection ten
The 5th sensing detection element (342) that word spill spin block (321) rotates, it is arranged on described U-shaped
It is used for detecting the 6th sensing detection unit of the rotation of operation handle (331) on spill spin block (322)
Part (343).
The most according to claim 8 kind of series parallel type 6DOF force feedback manipulator, its
It is characterised by: the first described sensing detection element (233) is photoelectric rotary coder,
Described 4th sensing detection element (341), the 5th sensing detection element (342), the 6th sensing
Detecting element (343) is angle potentiometer.
The most according to claim 7 kind of series parallel type 6DOF force feedback manipulator, its
It is characterised by: in described fixed platform (211), be provided with the first limited block (235), described
On semicircle reduction driven wheel (221) spoke, arcuately track is uniformly set by certain angle interval
It is equipped with some regulation screwed holes (52) for installing stop screw；Described cross supporting frame (311)
Connect and be provided with the second limit inside the vertical edge of the first disk (312) or the second disk (313)
Position block (315), described first disk (312) or the second disk (313) are upper by certain angle
Degree interval is evenly arranged with some regulation screwed holes (52) for installing stop screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610312877.3A CN105835086B (en) | 2016-05-11 | 2016-05-11 | A kind of series parallel type 6DOF force feedback manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610312877.3A CN105835086B (en) | 2016-05-11 | 2016-05-11 | A kind of series parallel type 6DOF force feedback manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105835086A true CN105835086A (en) | 2016-08-10 |
| CN105835086B CN105835086B (en) | 2017-12-01 |
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| CN201610312877.3A Active CN105835086B (en) | 2016-05-11 | 2016-05-11 | A kind of series parallel type 6DOF force feedback manipulator |
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| CN106541390A (en) * | 2016-10-31 | 2017-03-29 | 南京航空航天大学 | A kind of series-parallel connection six degree of freedom force feedback equipment and using method |
| CN107038944A (en) * | 2017-05-11 | 2017-08-11 | 广东工业大学 | A kind of device of six degree of freedom force feedback operative training |
| CN107272513A (en) * | 2017-07-31 | 2017-10-20 | 北京航空航天大学 | Three dimensional rotation force feedback equipment |
| CN108481307A (en) * | 2018-03-29 | 2018-09-04 | 燕山大学 | It is a kind of towards the continuous humanoid robot carried greatly |
| CN109333528A (en) * | 2018-09-19 | 2019-02-15 | 欣旺达电子股份有限公司 | Universal 6DOF force feedback equipment |
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| CN110440742A (en) * | 2019-09-09 | 2019-11-12 | 张洪冬 | Outer corner measurement component, serial mechanism and device for force feedback |
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| CN114952800A (en) * | 2022-06-30 | 2022-08-30 | 华中科技大学 | Series-parallel mechanical operating arm based on ball joint driving |
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| CN117532589A (en) * | 2024-01-08 | 2024-02-09 | 北京立迈胜控制技术有限责任公司 | Series-parallel six-degree-of-freedom gesture adjusting mechanism and kinematic solution method thereof |
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| CN106541390B (en) * | 2016-10-31 | 2018-11-20 | 南京航空航天大学 | A kind of mixed connection six degree of freedom force feedback equipment and application method |
| CN106541390A (en) * | 2016-10-31 | 2017-03-29 | 南京航空航天大学 | A kind of series-parallel connection six degree of freedom force feedback equipment and using method |
| CN107038944A (en) * | 2017-05-11 | 2017-08-11 | 广东工业大学 | A kind of device of six degree of freedom force feedback operative training |
| CN107272513A (en) * | 2017-07-31 | 2017-10-20 | 北京航空航天大学 | Three dimensional rotation force feedback equipment |
| CN107272513B (en) * | 2017-07-31 | 2019-04-19 | 北京航空航天大学 | Three dimensional rotation force feedback equipment |
| CN108481307A (en) * | 2018-03-29 | 2018-09-04 | 燕山大学 | It is a kind of towards the continuous humanoid robot carried greatly |
| CN109333528A (en) * | 2018-09-19 | 2019-02-15 | 欣旺达电子股份有限公司 | Universal 6DOF force feedback equipment |
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| CN109491505B (en) * | 2018-11-13 | 2021-01-12 | 天津城建大学 | Percussion instrument playing simulation system and force feedback device based on virtual reality technology |
| CN109491505A (en) * | 2018-11-13 | 2019-03-19 | 天津城建大学 | Percussion instrument based on virtual reality technology plays simulation system and device for force feedback |
| CN109514537A (en) * | 2019-01-17 | 2019-03-26 | 中国工程物理研究院激光聚变研究中心 | The complicated automatic microoperation arm-and-hand system of the micro- part of multi-configuration |
| CN109514537B (en) * | 2019-01-17 | 2024-04-05 | 中国工程物理研究院激光聚变研究中心 | Automatic micromanipulation manipulator system for complex multi-configuration micro-parts |
| CN109696930B (en) * | 2019-02-01 | 2022-04-19 | 北京众绘虚拟现实技术研究院有限公司 | Six-degree-of-freedom three-dimensional force feedback mechanism |
| CN109696930A (en) * | 2019-02-01 | 2019-04-30 | 北京众绘虚拟现实技术研究院有限公司 | A kind of six degree of freedom three-dimensional force feedback mechanism |
| CN110175409B (en) * | 2019-05-28 | 2022-01-25 | 欣旺达电子股份有限公司 | Gravity feedback compensation method |
| CN110175409A (en) * | 2019-05-28 | 2019-08-27 | 欣旺达电子股份有限公司 | Gravity feedback compensation method |
| CN110440742A (en) * | 2019-09-09 | 2019-11-12 | 张洪冬 | Outer corner measurement component, serial mechanism and device for force feedback |
| CN112057292A (en) * | 2019-12-04 | 2020-12-11 | 宁波大学 | Six-degree-of-freedom series-parallel upper limb rehabilitation robot |
| CN111216129B (en) * | 2020-01-07 | 2023-03-21 | 华南理工大学 | Active-passive combined series-parallel force feedback equipment gravity compensation method |
| CN111216129A (en) * | 2020-01-07 | 2020-06-02 | 华南理工大学 | Active and passive combined series-parallel force feedback equipment gravity compensation method |
| CN111745616B (en) * | 2020-06-19 | 2021-06-11 | 北京理工大学 | Force feedback master-slave operation controller |
| CN111745616A (en) * | 2020-06-19 | 2020-10-09 | 北京理工大学 | Force feedback master-slave operation controller |
| CN113456236A (en) * | 2021-06-29 | 2021-10-01 | 北京理工大学 | Rope-driven parallel main manipulator |
| CN113456236B (en) * | 2021-06-29 | 2022-05-27 | 北京理工大学 | Rope-driven parallel main manipulator |
| CN113977554A (en) * | 2021-11-04 | 2022-01-28 | 华中科技大学 | Six-dimensional force feedback device based on ball joint motor |
| CN114027988A (en) * | 2021-12-07 | 2022-02-11 | 临沂大学 | Three-degree-of-freedom continuum robot main manipulator and working method thereof |
| CN114027988B (en) * | 2021-12-07 | 2023-07-07 | 临沂大学 | Main manipulator of three-degree-of-freedom continuum robot and working method thereof |
| CN114952800A (en) * | 2022-06-30 | 2022-08-30 | 华中科技大学 | Series-parallel mechanical operating arm based on ball joint driving |
| CN116175648A (en) * | 2023-04-25 | 2023-05-30 | 江西明天高科技股份有限公司 | Force feedback mechanical arm moving resistance test board |
| CN117532589A (en) * | 2024-01-08 | 2024-02-09 | 北京立迈胜控制技术有限责任公司 | Series-parallel six-degree-of-freedom gesture adjusting mechanism and kinematic solution method thereof |
| CN117532589B (en) * | 2024-01-08 | 2024-04-05 | 北京立迈胜控制技术有限责任公司 | Series-parallel six-degree-of-freedom gesture adjusting mechanism and kinematic solution method thereof |
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