CN101439514B - Sliding block type structure decoupling six-dimension force feedback device - Google Patents
Sliding block type structure decoupling six-dimension force feedback device Download PDFInfo
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- CN101439514B CN101439514B CN2008102078005A CN200810207800A CN101439514B CN 101439514 B CN101439514 B CN 101439514B CN 2008102078005 A CN2008102078005 A CN 2008102078005A CN 200810207800 A CN200810207800 A CN 200810207800A CN 101439514 B CN101439514 B CN 101439514B
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Abstract
The invention discloses a decoupling 6D force feedback device of a sliding block type structure. The device is composed of a fixed base, a three-degree-of-freedom parallel mobile unit, and a three-degree-of-freedom parallel-serial rotation unit, wherein, the three-degree-of-freedom parallel mobile unit comprises three mutually orthogonal branches, each of the branches is guided to a sliding block by a column guide rail driven by a mobile drive motor, a double-link end is articulated with the sliding block, and the other end is connected with a rotation base by a U-shaped block, the three-degree-of-freedom parallel-serial rotation unit are driven by three rotary drive motors, the rotation base is respectively connected with a first arc rod and a third arc rod by a support hinge A and a support hinge B, the first arc rod is connected with a transfer platform by a long shaft, a second arc rod is connected with the transfer platform by a mid-length shaft, the third arc rod is connected with the second arc rod by a short shaft, and the transfer platform is in serial connection with a moving platform. The device can achieve unconditional decoupling with six degrees of freedom, and has the advantages of simple structure, easy control, high movement accuracy, lower cost and the like.
Description
Technical field
The present invention relates to a kind of sliding block type structure decoupling six-dimension force feedback device, be used for accurately simulating interact between the virtual environment object contact force that is produced, the size and Orientation of contact moment, realize man-machine dynamic sensing interexchanging perception, belong to Robotics field in the mechanical engineering.
Background technology
Dynamic sensing interexchanging claims tactile sense reproduction again, and this technique functions comes from the principal and subordinate of robot operation and distant operation, and purpose is to provide the power visual information to the operator who is positioned at the strange land, simulates its perception of operation when participating in the cintest, to improve operational quality and efficient.In recent years, power feels that reproducing technology is rapidly developed in the virtual reality field, become a kind of new computer man-machine interacting mode, when dummy object is operated, the operator experiences the active force of dummy object, the material and the shape of object by force sense-reproducing device, even the motion of object, experience power feel perceived effect as the biconditional operation real-world object.Its function is a measure operator operation trend, communicates by letter with the virtual emulation environment, accepts the fictitious force signal that virtual environment is calculated, and by mechanical interface feedback force is imposed on the operator.
Existing force feedback mechanism mostly is configuration in parallel, because the motion between each driver element of parallel institution is coupled, be that the whole output stage of parallel institution all is that moving of all driver elements is synthetic along moving of any direction, and between the motion of each driver element and the parallel institution mass motion (i.e. input and output) is non-linear relation, therefore cause mechanism controls very complicated, demarcate difficulty, also restricted the raising of equipment precision and the decline of cost simultaneously.
If mechanism is the mobile of certain direction or rotate the action that only depends on the driver element on this direction, and the driver element on other direction is not done the motion combination of effective action, then is referred to as the decoupling zero of mechanism.Decoupling zero can be divided into unconditional decoupling zero, three kinds of decoupling zero and the instantaneous decoupling zeros of having ready conditions.
Unconditional decoupling zero: if mechanism at an arbitrary position with all be decoupling zero under the attitude, then be referred to as unconditional decoupling zero or full decoupled; The decoupling zero of having ready conditions: if mechanism at an arbitrary position be decoupling zero under the specific initial attitude, decoupling zero or restriction decoupling zero then are referred to as to have ready conditions; Instantaneous decoupling zero:, then be referred to as instantaneous decoupling zero or some decoupling zero under ad-hoc location and specific initial attitude if mechanism is decoupling zero only.
The decoupling zero of mechanism can reduce the control difficulty greatly, improves control accuracy.So, how in conjunction with and the advantage of serial mechanism, realize mechanism's decoupling zero, with Pose Control and the demarcation that simplifies the internal structure of an organization, improve the mechanism controls precision and also reduce manufacturing cost, be a difficulty and be imbued with challenging problem always.
Find by retrieval, publication number is that the Chinese invention patent " force sense man-machine interaction device with six degrees of freedom " of CN1266656A has been delivered by fixed pedestal, silent flatform, moving platform, six force feedback mechanisms a kind of in parallel that side chain, driver element and compound spherical joint are formed, but this parallel institution degree of coupling is big, makes the control difficulty increase greatly.Publication number is the Chinese invention patent " six-freedom parallel decoupling mechanism " of CN1352563A, comprise have pedestal, moving platform and quadrature is connected and arranges between pedestal and moving platform six identical driver elements, when one or more therein driver elements are carried out driving work, other driver element is as long as produce corresponding transport motion or the coordinated movement of various economic factors, can realize the six degree of freedom decoupling zero of having ready conditions.By the literature search analysis, no matter be in grand moving field or in the fine motion field, the device for force feedback of sextuple unconditional decoupling zero does not appear at present as yet.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of sliding block type structure decoupling six-dimension force feedback device is provided, can realize the unconditional decoupling zero of six degree of freedom, and have simple in structure, control easily, the kinematic accuracy height, advantages such as working space is unrestricted, and cost is lower.
For achieving the above object, the sliding block type structure decoupling six-dimension force feedback device of the present invention's design is made of fixed pedestal, freedom degree parallel connection mobile unit, Three Degree Of Freedom and the rotating unit of connecting.
Wherein the freedom degree parallel connection mobile unit comprises three mutually orthogonal branches, and each branch is made of column guide rail, slide block, mobile drive motors and double link; Three mutually orthogonal being cemented on the fixed pedestal of column guide rail are driven by three mobile drive motors respectively; Slide block is by column guide rail guiding, and is hinged with double link one end; The double link other end is connected with rotating base by U type piece.
The Three Degree Of Freedom and the rotating unit of connecting are made up of rotating base, three rotational drive motors, first bow, transmission platform, major axis, second bow, middle major axis, the 3rd bow, minor axis, moving platform and series shafts; First bow links to each other with the transmission platform by major axis, and second bow links to each other with the transmission platform by middle major axis, and the 3rd bow links to each other with second bow by minor axis, transmits platform and links to each other with moving platform by series shaft; Three rotational drive motors are connected to first bow, transmit on platform, the 3rd bow; Rotating base links to each other with first bow, links to each other with the 3rd bow by supporting hinges B by supporting hinges A.All kinematic pair axis of the described Three Degree Of Freedom and the rotating unit of connecting all intersect at the moving platform central point, and mutually orthogonal.
Sliding block type structure decoupling six-dimension force feedback device of the present invention, unique design on fixed pedestal, be connected and three mobile driver elements of orthogonal layout, three rotational drive motors with orthogonal layout on the rotating mechanism, when carrying out the one or more dimensions motion, only need drive corresponding one or more driver element (or motor) wherein, other driver element (or motor) can not produce coupled motions, thereby can realize the motion of mechanism decoupling zero, can accomplish that Three Degree Of Freedom moves unconditional decoupling zero and Three Degree Of Freedom rotates unconditional decoupling zero.
The present invention can be used for accurately simulating interact between the object in the virtual environment contact force that is produced, the size and Orientation of contact moment, realizes man-machine dynamic sensing interexchanging perception, has outstanding feature and substantive progressive.The present invention is simple in structure, and cost is low, and the mechanism components of employing can be the combination of mechanical mechanism or parts commonly used; There are not coupled motions in the work, only need respectively required motion corresponding mobile or rotating drive unit to be controlled, do not need all to consider each driver element Synchronization Control problem all or under certain condition, thereby have reliable operation that control is easy to characteristics; Because of the decoupling zero degree higher, so kinematic accuracy height; Working space is unrestricted, both has been applicable to the fine motion field, also is applicable to grand moving field.
Description of drawings
Fig. 1 is overall structure figure of the present invention.
Among Fig. 1,1 is fixed pedestal; 2 is the column guide rail; 3 is slide block; 4 is mobile drive motors; 5 is double link; 6 is U type piece; 7 is rotating base.
Fig. 2 is the partial structurtes figure of freedom degree parallel connection rotating mechanism of the present invention.
Among Fig. 2: 7 is rotating base; 8 is first bow; 9 for transmitting platform; 10 is major axis; 11 is second bow; 12 is major axis; 13 is the 3rd bow; 14 is minor axis; 15 is moving platform; 16 is series shaft; 17 is supporting hinges A; 18 is supporting hinges B; 19 is rotational drive motor.
The specific embodiment
Below in conjunction with accompanying drawing technical scheme of the present invention is further described:
Fig. 1 is overall structure figure of the present invention.As shown in Figure 1, sliding block type structure decoupling six-dimension force feedback device of the present invention is made of fixed pedestal 1, freedom degree parallel connection mobile unit, Three Degree Of Freedom and the rotating unit of connecting.Wherein the freedom degree parallel connection mobile unit comprises three mutually orthogonal branches, and each branch is by column guide rail 2, slide block 3, and mobile drive motors 4, double link 5 constitutes.Three column guide rail 2 mutually orthogonal being cemented on the fixed pedestal 1 are driven by three mobile drive motors 4 respectively, form three mobile driver elements; Slide block 3 is led by column guide rail 2, and links to each other with double link 5 one ends, and double link 5 other ends link to each other with rotating base 7 by U type piece 6.Three mobile driver elements lay respectively at x, y, three orthogonal directions of z; Plane, three mobile branch places is vertical with x, y, three orthogonal directions of z respectively, promptly respectively with three mobile driver element quadratures, and intersect at moving platform 15 central points.
Fig. 2 is the partial structurtes figure of freedom degree parallel connection rotating mechanism of the present invention.As shown in Figure 2, the Three Degree Of Freedom and the rotating unit of connecting by rotating base 7, three rotational drive motors 19, first bows 8, transmit platform 9, major axis 10, second bow 11, middle major axis 12, the 3rd bow 13, minor axis 14, moving platform 15, series shaft 16 and form.First bow 8 links to each other with transmission platform 9 by major axis 10, forms one and rotates branch; Second bow 11 links to each other with transmission platform 9 by middle major axis 12, and the 3rd bow 13 links to each other with second bow 11 by minor axis 14, forms one and rotates branch; Transmit platform 9 and link to each other with moving platform 15, form one and rotate branch by series shaft 16; Rotational drive motor 19 is connected to first bow 8, transmits on platform 9, the 3rd bow 13; Rotating base 7 links to each other with first bow 8, links to each other with the 3rd bow 13 by supporting hinges B18 by supporting hinges A17.All kinematic pair axis of the Three Degree Of Freedom and the rotating unit of connecting all intersect at moving platform 15 central points, and mutually orthogonal.
Mechanism of the present invention is heart position therein, promptly on moving platform 15 center position, moves and rotates mutual decoupling zeros around x, y, z axle three for axial three of x, y, z.Now the operation principle of the six degree of freedom of the present invention and the decoupling mechanism of connecting is explained with embodiment shown in Figure 1:
When the mobile driver element of arbitrary axis on for example x (or y or z) accepted 15 work of control instruction driving moving platform, moving platform 15 will be along driving direction, for example x (or y or z) to moving.Three mobile branches of moving platform 15 drives this moment carry out the plane transport motion, and then relatively moving or the coordinated movement of various economic factors between generation moving platform 15 and these driving branches, thereby make the motion accept driving work that control instruction moves driver element and other driver element (or motor) have nothing to do, also promptly avoided the motion coupling between the different driving unit (or motor), realize the moved decoupling of moving platform 15 on x, y, three directions of z, and be unconditional decoupling zero.
Rotate the decoupling zero situation again: the axis of supposing three rotational drive motors 19 is respectively X, Z, Y, and be called three " instantaneous axis of rotation ", when the rotational drive motor 19 of arbitrary axis on for example x (or y or z) accepted 15 work of control instruction driving moving platform, moving platform 15 will be around driving direction, for example x (or y or z) to rotating.Because the center of moving platform 15 is the intersection point of three axis, therefore moving platform 15 will drive three rotation branches and carry out the sphere transport motion this moment, and then relatively moving or the coordinated movement of various economic factors between generation moving platform 15 and these driving branches, thereby make the driving work accept the control instruction rotational drive motor and the motion of other driver element (or motor) have nothing to do, also promptly avoided the motion coupling between the different driving unit (or motor), realize moving platform 15 in the rotation decoupling zero on x, y, three directions of z, and also be unconditional decoupling zero.
When x moves axially drive motors 4 operations, drive moving platform 15 and move, and moving displacement is directly proportional with corresponding mobile drive motors 4 corners along the x direction of principal axis.When the X axis rotational drive motor moved, moving platform 15 rotated around X axis, and rotational angle equals the motor corner.When moving along y axle or z axle, or when Y-axis or Z axle rotate, the situation all fours.So the position and the corner of mechanism of the present invention all directions can be regulated respectively, therefore control is convenient, and control sensitivity and kinematic accuracy are all very high.
Claims (2)
1. a sliding block type structure decoupling six-dimension force feedback device is characterized in that: be made of fixed pedestal (1), freedom degree parallel connection mobile unit, Three Degree Of Freedom and the rotating unit of connecting;
Described freedom degree parallel connection mobile unit comprises three mutually orthogonal branches, and each branch is made of column guide rail (2), slide block (3), mobile drive motors (4) and double link (5); Three column guide rails (2) are mutually orthogonal to be cemented on the fixed pedestal (1), is driven by three mobile drive motors (4) respectively; Slide block (3) is by column guide rail (2) guiding, and is hinged with double link (5) one ends; Double link (5) other end is connected with rotating base (7) by U type piece (6);
The described Three Degree Of Freedom and the rotating unit of connecting are made up of rotating base (7), three rotational drive motors (19), first bow (8), transmission platform (9), major axis (10), second bow (11), middle major axis (12), the 3rd bow (13), minor axis (14), moving platform (15) and series shaft (16); First bow (8) links to each other with transmission platform (9) by major axis (10), second bow (11) links to each other with transmission platform (9) by middle major axis (12), the 3rd bow (13) links to each other with second bow (11) by minor axis (14), transmits platform (9) and links to each other with moving platform (15) by series shaft (16); Three rotational drive motors (19) are connected to first bow (8), transmit on platform (9), the 3rd bow (13); Rotating base (7) links to each other with first bow (8), links to each other with the 3rd bow (13) by supporting hinges B (18) by supporting hinges A (17), all kinematic pair axis of the described Three Degree Of Freedom and the rotating unit of connecting all intersect at moving platform (15) central point, and mutually orthogonal.
2. sliding block type structure decoupling six-dimension force feedback device according to claim 1, it is characterized in that in the described freedom degree parallel connection mobile unit three double link (5) place plane of movement respectively with three column guide rails (2) quadrature, and intersect at moving platform (15) central point.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2008102078005A CN101439514B (en) | 2008-12-25 | 2008-12-25 | Sliding block type structure decoupling six-dimension force feedback device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2008102078005A CN101439514B (en) | 2008-12-25 | 2008-12-25 | Sliding block type structure decoupling six-dimension force feedback device |
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| CN101439514A CN101439514A (en) | 2009-05-27 |
| CN101439514B true CN101439514B (en) | 2010-06-30 |
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Families Citing this family (18)
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| CN102950591B (en) * | 2011-08-17 | 2015-07-01 | 鸿富锦精密工业（深圳）有限公司 | Industrial robot |
| CN102759995B (en) * | 2012-06-13 | 2015-06-24 | 西北工业大学 | Spatial six-dimensional computer input device |
| CN102717383B (en) * | 2012-06-29 | 2014-08-20 | 北京航空航天大学 | Novel six-freedom-degree force feedback device |
| CN103116362B (en) * | 2012-12-26 | 2015-03-04 | 浙江工业大学 | Full coupling dynamic balancing device |
| CN102990654B (en) * | 2012-12-27 | 2015-08-26 | 广西大学 | A kind of parallel institution containing two pprrr closed-loop subchain |
| DE102014105538A1 (en) * | 2014-04-17 | 2015-10-22 | Technische Universität Berlin | Haptic system and method of operation |
| CN104608134B (en) * | 2015-02-07 | 2015-12-02 | 吉林大学 | Full decoupled plane two-freedom-degree parallel mechanism |
| CN105500365B (en) * | 2016-01-26 | 2018-08-28 | 南京航空航天大学 | A kind of six degree of freedom series-parallel robot |
| 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 |
| CN106710364A (en) * | 2017-01-24 | 2017-05-24 | 山东科技大学 | Parallel type flight training simulator |
| CN106945011B (en) * | 2017-03-14 | 2019-07-30 | 陕西科技大学 | A kind of orthogonal parallel institution of four-degree-of-freedom |
| CN107367746A (en) * | 2017-07-27 | 2017-11-21 | 南京康派电子有限公司 | A kind of portable positioning device using Beidou satellite navigation system |
| CN109108948B (en) * | 2018-10-23 | 2021-07-27 | 西安工程大学 | Parallel mechanism with three motion modes of 3R, 2R1T and 1R2T |
| CN109108949B (en) * | 2018-10-23 | 2021-07-23 | 西安工程大学 | Parallel mechanism with three motion modes of 3T, 2T1R and 1T2R |
| CN112720422A (en) * | 2021-01-12 | 2021-04-30 | 山东理工大学 | Single-layer single-section guide rail type plane robot with double parallelograms |
| CN113771099B (en) * | 2021-09-23 | 2022-12-09 | 中国科学院上海微系统与信息技术研究所 | Parallel type three-degree-of-freedom bionic eye device |
| CN113977554B (en) * | 2021-11-04 | 2023-05-09 | 华中科技大学 | Six-dimensional force feedback device based on ball joint motor |
| CN114145964B (en) * | 2021-12-01 | 2023-04-07 | 复旦大学 | Man-machine compatible two-stage parallel type wrist exoskeleton rehabilitation robot |
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