CN101633169B - Three-degree-of-freedom force sensing hand controller - Google Patents
Three-degree-of-freedom force sensing hand controller Download PDFInfo
- Publication number
- CN101633169B CN101633169B CN200810022840A CN200810022840A CN101633169B CN 101633169 B CN101633169 B CN 101633169B CN 200810022840 A CN200810022840 A CN 200810022840A CN 200810022840 A CN200810022840 A CN 200810022840A CN 101633169 B CN101633169 B CN 101633169B
- Authority
- CN
- China
- Prior art keywords
- link
- axle
- rhomb form
- form mechanism
- group
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The invention relates to a three-degree-of-freedom force sensing hand controller, which comprises a diamond link mechanism component, a hand mechanism, a balance weight, a support, a handle connecting piece and a balance weight connecting piece, wherein the diamond link mechanism component comprises a first group of diamond link mechanism, a second group of diamond link mechanism and a third group of diamond link mechanism; the second group of diamond link mechanism and the third group of diamond link mechanism are parallel; the first group of diamond link mechanism is vertical to the second group of diamond link mechanism and the third diamond link mechanism; the first group of diamond link mechanism and the second group of diamond link mechanism are provided with a universal joint respectively, and are connected with a first torque feedback motor and a second torque feedback motor respectively through the universal joints; the first torque feedback motor and the second torque feedback motor are connected with the support; a third torque feedback motor is arranged on any diamond link mechanism; the balance weight is arranged on the balance weight connecting piece; the hand mechanism is arranged on the handle connecting piece; both ends of the any diamond link mechanism are connected with universal joints respectively, and are connected with one end of each of the universal joints respectively; the other end of the universal joint positioned at one end of the diamond link mechanism is connected with the balance weight; and the other end of the universal joint positioned at the other end of the diamond link mechanism is connected with the handle connecting piece.
Description
Technical field
The present invention is a kind of mechanism of force sensing hand controller of Three Degree Of Freedom, the universal isomery formula force sensing hand controller mechanism in especially a kind of human-computer interface device that is applied to robot control.
Background technology
Along with the extensive use of interactive teleoperation robot, the human-computer interface device that needs are a large amount of with power feel feedback effect.The manual device of data glove and robot is the human-computer interface device of two kinds of common teleoperation robots; Because the variation that data glove can't be measured the human arm joint; And lack effective power feel feedback; Therefore; The manual device of robot is the most effectively human-computer interface device of realization teleoperation robot control, and it passes through the motion of the positional information of measure operator hand as the virtual machine hand tracking staff in control instruction control manipulator or the virtual reality on the one hand, on the other hand; Power feel and tactile data that robot is fed back convert power or the moment that directly acts on staff to; Make the operator be created in the power feels/sense of touch telepresenc effect of " on the spot in person " of artificial work scene of machine far away or virtual robot working site, thereby realize control, perhaps in virtual environment, produce real the touch and experience robot band sensation.The manual device of robot can be divided into two kinds of isomorphism formula and isomery formulas, and existing hand controller mostly is the isomorphism formula, and isomorphism formula hand controller has the identical structure and the free degree with manipulator far away, takes the joint---the type of drive in joint.Though robot isomorphism formula hand controller control is simple, the robot control that it can only be used for model lacks versatility.Therefore; Universal hand controller all adopts the isomery mode different with the robot architecture, and existing isomery formula hand controller has form of a stroke or a combination of strokes operation lever structure, parallel-connection structure, series/parallel mixed structure, incorporate closed chain formula structure and based on the isomery formula hand controller of Delta mechanism.The shortcoming of preceding four kinds of isomery formula hand controllers is to exist translation and the motion coupling between the rotation and the coupling of power that can't overcome; A kind of isomery formula hand controller shortcoming based on Delta mechanism in back is that working space is little; Can't overcome the influence of gravity, and control is complicated.
Technology contents
Technical problem the invention provides a kind of three-degree-of-freedom force sensing hand controller that helps improving certainty of measurement, and this device operation is light, and inertia is little, gravity self-balancing, agravic interference.
A kind of three-degree-of-freedom force sensing hand controller of technical scheme is made up of link in rhomb form mechanism assembly, hand organization, counterweight, support, handle connector and counterweight connector.The link in rhomb form mechanism assembly comprises first group of link in rhomb form mechanism, second group of link in rhomb form mechanism and the 3rd group of link in rhomb form mechanism.Second group of link in rhomb form mechanism and the 3rd group of link in rhomb form mechanism are parallel to each other, and first group of link in rhomb form mechanism is vertical with above-mentioned second and third group link in rhomb form mechanism.And; With second and third group link in rhomb form mechanism plane, place or parallel with it plane is the XOZ coordinate plane; With first group of link in rhomb form mechanism plane, place or parallel with it plane is the XOY coordinate plane, with XOZ coordinate plane and the perpendicular plane of XOY coordinate plane be the YOZ plane.In first group of link in rhomb form mechanism and second group of link in rhomb form mechanism, be respectively equipped with 1 dimension free degree universal joint around the rotation of Y axle, around 1 dimension free degree universal joint of Z axle rotation; And first group of link in rhomb form mechanism is connected with the output shaft of first moment feedback motor through 1 dimension free degree universal joint around the rotation of Y axle; Second group of link in rhomb form mechanism is connected with the output shaft of second moment feedback motor through 1 dimension free degree universal joint around the rotation of Z axle, and the pedestal of the pedestal of first moment feedback motor and second moment feedback motor is connected with support respectively.Between the 3rd group of link in rhomb form mechanism and support, be provided with 2 dimension free degree universal joints, described 1 dimension free degree universal joint, around 1 dimension free degree universal joint of Z axle rotation and be in the same plane and this same plane and YOZ plane parallel around 2 dimension free degree universal joints of Y axle and the rotation of Z axle around the rotation of Y axle around the rotation of Y axle and Z axle.Be provided with the 3rd moment feedback motor in the arbitrary link in rhomb form mechanism in the link in rhomb form mechanism assembly; The pedestal of the 3rd moment feedback motor is connected with a link in rhomb form forming link in rhomb form mechanism; The output shaft of the 3rd moment feedback motor is connected with another root link in rhomb form of forming link in rhomb form mechanism, and being used for being provided with the 3rd moment, to feed back two link in rhomb forms of link in rhomb form mechanism of motor adjacent.The two ends of the arbitrary link in rhomb form mechanism in the link in rhomb form mechanism assembly are connected with around 2 dimension free degree universal joints of Z axle and the rotation of Y axle respectively and are connected with an end of tieing up free degree universal joints around Z axle and 2 of Y axle rotation respectively.32 other ends of tieing up free degree universal joints around Z axle and the rotation of Y axle that are positioned at link in rhomb form mechanism one end are connected with a side of counterweight connector, and the opposite side of counterweight connector is connected with counterweight.32 other ends of tieing up free degree universal joints around Z axle and the rotation of Y axle that are positioned at the link in rhomb form mechanism other end are connected with a side of handle connector, and the opposite side of handle connector is connected with hand organization.
Beneficial effect (1) the present invention realizes three-dimensional translating through three groups of link in rhomb form mechanisms, has simplified the complexity of mechanism.Three groups of link in rhomb form mechanisms that the present invention adopted have constituted parallel leverage; The middle of three groups of link in rhomb form mechanisms links to each other with support with moment feedback motor through universal joint; Make the center of gravity of three groups of link in rhomb form mechanisms fall within on the support, thereby three groups of link in rhomb form mechanisms have the characteristics of gravity self-balancing under the acting in conjunction of support and counterweight; Avoid gravity to influence of the present invention, helped the raising of certainty of measurement.This technical scheme of the present invention combines with moment feedback motor technology measure; The present invention is become have the hand controller of force feedback function; It can avoid complicated position measurement and power to feel in the reproducing control process having improved the authenticity of certainty of measurement and power feel perception by complicated coupled relation between the motion.(2) the present invention adopts the technical scheme of link in rhomb form mechanism; The rotation that the variation of angle realizes link in rhomb form mechanism between the adjacent connecting rod in effect through moment feedback motor and the link in rhomb form mechanism is with flexible; Thereby realize the motion of hand organization, compare with the mechanism of existing hand controller and have the advantage that volume is little, working space is big.(3) hand organization that the present invention adopted is easy to operate; Realized the moment feedback function of wrist easily; The present invention make the present invention become force sensing hand controller, and said structure has the advantage of being convenient to control motor realization moment feedback after the technical measures that adopted moment feedback motor.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention.
Fig. 2 is the structural representation of link in rhomb form mechanism assembly embodiment of the present invention.
Fig. 3 is the structural representation of first group of link in rhomb form mechanism for implementing example of the present invention.
Fig. 4 is the structural representation of the embodiment of bindiny mechanism of the present invention's the 3rd moment feedback motor.
Fig. 5 is the structural representation of the embodiment of bindiny mechanism of the present invention's first moment feedback motor.
Fig. 6 is the structural representation of the embodiment of bindiny mechanism of the present invention's 2 dimension free degree universal joints.
" Δ " mark representes that this place is fixed among the figure, the concrete connected mode that links to each other with support that adopts.
Specific embodiments
A kind of three-degree-of-freedom force sensing hand controller is made up of link in rhomb form mechanism assembly 1, hand organization 2, counterweight 3, support 4, handle connector 5 and counterweight connector 6.Link in rhomb form mechanism assembly 1 comprises first group of link in rhomb form mechanism 13, second group of link in rhomb form mechanism 11 and the 3rd group of link in rhomb form mechanism 12.Second group of link in rhomb form mechanism 11 and the 3rd group of link in rhomb form mechanism 12 are parallel to each other, and first group of link in rhomb form mechanism 13 is vertical with above-mentioned second and third group link in rhomb form mechanism 11,12.And; With second and third group link in rhomb form mechanism plane, 11,12 place or parallel with it plane is the XOZ coordinate plane; With first group of link in rhomb form mechanism plane, 13 place or parallel with it plane is the XOY coordinate plane, with XOZ coordinate plane and the perpendicular plane of XOY coordinate plane be the YOZ plane.In first group of link in rhomb form mechanism 13 and second group of link in rhomb form mechanism 11, be respectively equipped with 1 dimension free degree universal joint 132 around the rotation of Y axle, around 1 dimension free degree universal joint 112 of Z axle rotation.And first group of link in rhomb form mechanism 13 is connected with the output shaft of first moment feedback motor 131 through 1 dimension free degree universal joint 132 around the rotation of Y axle; Second group of link in rhomb form mechanism 11 is connected with the output shaft of second moment feedback motor 111 through 1 dimension free degree universal joint 112 around the rotation of Z axle, and the pedestal of the pedestal of first moment feedback motor 131 and second moment feedback motor 111 is connected with support 4 respectively.Between the 3rd group of link in rhomb form mechanism 12 and support 4, be provided with 2 dimension free degree universal joints 122 around Y axle and the rotation of Z axle.Described 1 dimension free degree universal joint 132 around Y axle rotation, around 1 dimension free degree universal joint 112 of Z axle rotation and be in the same plane and this same plane and YOZ plane parallel around 2 dimension free degree universal joints 122 of Y axle and the rotation of Z axle.Be provided with the 3rd moment feedback motor 133 in the arbitrary link in rhomb form mechanism in link in rhomb form mechanism assembly 1; The pedestal of the 3rd moment feedback motor 133 is connected with a link in rhomb form forming link in rhomb form mechanism; The output shaft of the 3rd moment feedback motor 133 is connected with another rhombus root connecting rod of forming link in rhomb form mechanism, and being used for being provided with the 3rd moment, to feed back two link in rhomb forms of link in rhomb form mechanism of motor 133 adjacent.The two ends of the arbitrary link in rhomb form mechanism in the link in rhomb form mechanism assembly 1 are connected with around 2 dimension free degree universal joints of Z axle and the rotation of Y axle respectively and are connected with an end of tieing up free degree universal joints around Z axle and 2 of Y axle rotation respectively.32 other ends of tieing up free degree universal joints around Z axle and the rotation of Y axle that are positioned at link in rhomb form mechanism one end are connected with a side of counterweight connector 6, and the opposite side of counterweight connector 6 is connected with counterweight 3.32 other ends of tieing up free degree universal joints around Z axle and the rotation of Y axle that are positioned at the link in rhomb form mechanism other end are connected with a side of handle connector 5, and the opposite side of handle connector 5 is connected with hand organization 2.In addition, on first moment feedback motor 131, second moment feedback motor 111 and the 3rd moment feedback motor 133, be respectively equipped with first photoelectric coded disk 137, second photoelectric coded disk 115 and the 3rd photoelectric coded disk 138.
With reference to the accompanying drawings, specific embodiments of the present invention is made more detailed explanation:
With reference to Fig. 1, present embodiment relates to a kind of three-degree-of-freedom force sensing hand controller, is made up of link in rhomb form mechanism assembly 1, hand organization 2, counterweight 3, support 4, handle connector 5 and counterweight connector 6.Link in rhomb form mechanism assembly 1 comprises first group of link in rhomb form mechanism 13, second group of link in rhomb form mechanism 11 and the 3rd group of link in rhomb form mechanism 12; Second group of link in rhomb form mechanism 11 and the 3rd group of link in rhomb form mechanism 12 are parallel to each other, and first group of link in rhomb form mechanism 13 is vertical with above-mentioned second and third group link in rhomb form mechanism 11,12.With second and third group link in rhomb form mechanism plane, 11,12 place or parallel with it plane is the XOZ coordinate plane; With first group of link in rhomb form mechanism plane, 13 place or parallel with it plane is the XOY coordinate plane, with XOZ coordinate plane and the perpendicular plane of XOY coordinate plane be the YOZ plane.
With reference to Fig. 2, in first group of link in rhomb form mechanism 13 and second group of link in rhomb form mechanism 11, be respectively equipped with 1 dimension free degree universal joint 132, around 1 dimension free degree universal joint 112 of Z axle rotation around the rotation of Y axle.And first group of link in rhomb form mechanism 13 is connected with the output shaft of first moment feedback motor 131 through 1 dimension free degree universal joint 132 around the rotation of Y axle; Second group of link in rhomb form mechanism 11 is connected with the output shaft of second moment feedback motor 111 through 1 dimension free degree universal joint 112 around the rotation of Z axle, and the pedestal of the pedestal of first moment feedback motor 131 and second moment feedback motor 111 is connected with support 4 respectively.Between the 3rd group of link in rhomb form mechanism 12 and support 4, be provided with 2 dimension free degree universal joints 122 around Y axle and the rotation of Z axle.Described 1 dimension free degree universal joint 132 around Y axle rotation, around 1 dimension free degree universal joint 112 of Z axle rotation and be in the same plane and this same plane and YOZ plane parallel around 2 dimension free degree universal joints 122 of Y axle and the rotation of Z axle.On first moment feedback motor 131, second moment feedback motor 111, be respectively equipped with first photoelectric coded disk 137, second photoelectric coded disk 115.
With reference to Fig. 3, Fig. 4, Fig. 5, first link in rhomb form 135 of first group of link in rhomb form mechanism 13 is fixedly connected with the pedestal of the 3rd moment feedback motor 133, and the output shaft of first link in rhomb form 135 and the 3rd moment feedback motor 133 is rotationally connected.The end of first link in rhomb form 135 is connected with " U " shape framework of tieing up free degree universal joints 134 around 2 of Z axle and the rotation of Y axle.Second link in rhomb form 139 of first group of link in rhomb form mechanism 13 is fixedly connected with the output shaft of the 3rd moment feedback motor 133.The 1 dimension free degree universal joint 132 around Y axle rotation of first group of link in rhomb form mechanism 13 is fixedly connected with the Three Diamond connecting rod 1351 of first group of link in rhomb form mechanism 13, is rotationally connected with the 4th link in rhomb form 1391 of first group of link in rhomb form mechanism 13.The output shaft of first moment feedback motor 131 of first group of link in rhomb form mechanism 13 is connected with above-mentioned " U " shape framework of tieing up free degree universal joint 132 around 1 of Y axle rotation.Set link in rhomb form in second group of link in rhomb form mechanism 11, set link in rhomb form, the connected mode fed back between the motor 131 around the 1 dimension free degree universal joint 132 and first moment of the rotation of Y axle are identical in 1 dimension free degree universal joint 112 of Z axle rotation and the connected mode between the second moment feedback motor 111 and the above-mentioned first group of link in rhomb form mechanism 13.
With reference to Fig. 3, Fig. 6, the 5th link in rhomb form 1352 of first group of link in rhomb form mechanism 13 is connected with " U " shape framework of tieing up free degree universal joints 136 around 2 of Z axle and the rotation of Y axle with the 6th link in rhomb form 1392.With reference to Fig. 6, Fig. 2; The two ends of the arbitrary link in rhomb form mechanism in the link in rhomb form mechanism assembly 1 are connected with around 2 dimension free degree universal joints of Z axle and the rotation of Y axle respectively and are connected with an end of tieing up free degree universal joints around Z axle and 2 of Y axle rotation respectively; And the two ends of arbitrary link in rhomb form mechanism with around the link in rhomb form of the connected mode of 2 dimension free degree universal joints of Z axle and the rotation of Y axle and above-mentioned first group of link in rhomb form mechanism 13 with rotate around Z axle and Y axle 2 to tie up the connected mode of free degree universal joints 136 identical; 32 other ends of tieing up free degree universal joints around Z axle and the rotation of Y axle that are positioned at link in rhomb form mechanism one end are connected with a side of counterweight connector 6; The opposite side of counterweight connector 6 is connected with counterweight 3; 32 other ends of tieing up free degree universal joints around Z axle and the rotation of Y axle that are positioned at the link in rhomb form mechanism other end are connected with a side of handle connector 5, and the opposite side of handle connector 5 is connected with hand organization 2.Counterweight connector 6 can constitute integral body with counterweight 3; Can adopt and directly on counterweight, establish a plane and be connected with universal joint by this plane; Counterweight connector 6 also can adopt the branch body structure with counterweight 3, can be employed in to establish a screw rod on the counterweight connector 6 and counterweight 3 is revolved above that.
Claims (2)
1. three-degree-of-freedom force sensing hand controller; It is characterized in that forming by link in rhomb form mechanism assembly (1), hand organization (2), counterweight (3), support (4), handle connector (5) and counterweight connector (6); Link in rhomb form mechanism assembly (1) comprises first group of link in rhomb form mechanism (13), second group of link in rhomb form mechanism (11) and the 3rd group of link in rhomb form mechanism (12); Second group of link in rhomb form mechanism (11) and the 3rd group of link in rhomb form mechanism (12) are parallel to each other; First group of link in rhomb form mechanism (13) is vertical with above-mentioned second and third group link in rhomb form mechanism (11,12); And; With second and third group link in rhomb form mechanism (11,12) plane, place or parallel with it plane is the XOZ coordinate plane; With first group of link in rhomb form mechanism (13) plane, place or parallel with it plane is the XOY coordinate plane; With with XOZ coordinate plane and the perpendicular plane of XOY coordinate plane be the YOZ plane; Be respectively equipped with 1 dimension free degree universal joint (132) between the two ends of first group of link in rhomb form mechanism (13) and between the two ends of second group of link in rhomb form mechanism (11) around Y axle rotation, around 1 dimension free degree universal joint (112) of Z axle rotation; And first group of link in rhomb form mechanism (13) is connected with the output shaft of first moment feedback motor (131) through 1 dimension free degree universal joint (132) around the rotation of Y axle; Second group of link in rhomb form mechanism (11) is connected with the output shaft of second moment feedback motor (111) through 1 dimension free degree universal joint (112) around the rotation of Z axle; The pedestal of the pedestal of first moment feedback motor (131) and second moment feedback motor (111) is connected with support (4) respectively; Between the 3rd group of link in rhomb form mechanism (12) and support (4), be provided with 2 dimension free degree universal joints (122) around the rotation of Y axle and Z axle, described 1 dimension free degree universal joint (132) around the rotation of Y axle, around 1 dimension free degree universal joint (112) of Z axle rotation and be in the same plane and this same plane and YOZ plane parallel around 2 dimension free degree universal joints (122) of Y axle and the rotation of Z axle is provided with the 3rd moment in the arbitrary link in rhomb form mechanism in link in rhomb form mechanism assembly (1) and feeds back motor (133); The pedestal of the 3rd moment feedback motor (133) is connected with a link in rhomb form forming link in rhomb form mechanism; The output shaft of the 3rd moment feedback motor (133) is connected with another root link in rhomb form of forming link in rhomb form mechanism, and it is adjacent to be used for being provided with two link in rhomb forms of link in rhomb form mechanism of the 3rd moment feedback motor (133), the end, two ends of each link in rhomb form mechanism in the link in rhomb form mechanism assembly (1) be connected with respectively around 2 dimension free degree universal joints of Z axle and the rotation of Y axle and respectively with center on that Z axle and Y axle rotate 2 tie up free degree universal joints an end be connected; 32 other ends of tieing up free degree universal joints around Z axle and the rotation of Y axle that are positioned at link in rhomb form mechanism one end are connected with a side of counterweight connector (6); The opposite side of counterweight connector (6) is connected with counterweight (3), and 32 other ends of tieing up free degree universal joints around Z axle and the rotation of Y axle that are positioned at the link in rhomb form mechanism other end are connected with a side of handle connector (5), and the opposite side of handle connector (5) is connected with hand organization (2).
2. three-degree-of-freedom force sensing hand controller according to claim 1 is characterized in that on first moment feedback motor (131), second moment feedback motor (111) and the 3rd moment feedback motor (133), being respectively equipped with first photoelectric coded disk (137), second photoelectric coded disk (115) and the 3rd photoelectric coded disk (138).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810022840A CN101633169B (en) | 2008-07-24 | 2008-07-24 | Three-degree-of-freedom force sensing hand controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810022840A CN101633169B (en) | 2008-07-24 | 2008-07-24 | Three-degree-of-freedom force sensing hand controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101633169A CN101633169A (en) | 2010-01-27 |
| CN101633169B true CN101633169B (en) | 2012-09-26 |
Family
ID=41592587
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810022840A Expired - Fee Related CN101633169B (en) | 2008-07-24 | 2008-07-24 | Three-degree-of-freedom force sensing hand controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101633169B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5816105A (en) * | 1996-07-26 | 1998-10-06 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Three degree of freedom parallel mechanical linkage |
| CN1410232A (en) * | 2002-11-29 | 2003-04-16 | 东南大学 | Hand controller of six freedom universal isomeric robot |
| CN201224104Y (en) * | 2008-07-24 | 2009-04-22 | 东南大学 | Force feedback three-DOF hand controlled regulator mechanism |
-
2008
- 2008-07-24 CN CN200810022840A patent/CN101633169B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5816105A (en) * | 1996-07-26 | 1998-10-06 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Three degree of freedom parallel mechanical linkage |
| CN1410232A (en) * | 2002-11-29 | 2003-04-16 | 东南大学 | Hand controller of six freedom universal isomeric robot |
| CN201224104Y (en) * | 2008-07-24 | 2009-04-22 | 东南大学 | Force feedback three-DOF hand controlled regulator mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101633169A (en) | 2010-01-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103192387B (en) | Robot and its control method | |
| CN105397838B (en) | Main hand operating wrist of master-slave robot | |
| CN101439514B (en) | Sliding block type structure decoupling six-dimension force feedback device | |
| CN102873690B (en) | Dexterous hand driven by shape memory alloy | |
| CN104546144A (en) | Switchable seven-degree-of-freedom force feedback remote operating manipulator | |
| CN102152299B (en) | (6 plus 1)-dimension force feedback sensing device | |
| CN201224104Y (en) | Force feedback three-DOF hand controlled regulator mechanism | |
| CN102152314B (en) | Clucking power feedback system in touching device | |
| CN103128744A (en) | Humanoid flexible mechanical arm device | |
| CN201026611Y (en) | Mechanical clamping device having four-degree of freedom | |
| CN101637913A (en) | Human joint motion measurement and force feedback actuating mechanism with human-machine interface for realizing teleoperating robot control | |
| CN110549355B (en) | Imitative people's hand of sense of touch perception based on nut lead screw and tendon transmission | |
| CN108214445A (en) | A kind of principal and subordinate's isomery remote operating control system based on ROS | |
| CN105196284A (en) | Three-degree-of-freedom tandem type self-gravity-balance passive mechanical arm | |
| CN103737576A (en) | Six freedom degree force feedback hand controller | |
| CN1206082C (en) | Hand controller of six freedom universal isomeric robot | |
| CN101439515B (en) | Parallel four-bar type structure decoupling six-dimension force feedback device | |
| CN110897725A (en) | Full-active 8-degree-of-freedom tandem type main manipulator | |
| CN113456240B (en) | Main operating hand clamping structure | |
| CN204428164U (en) | A kind of seven freedom force feedback remote operating hands of switchable type | |
| CN207352855U (en) | A kind of device of six degree of freedom force feedback operative training | |
| CN104267820B (en) | A kind of two-in-parallel structure multi-dimension haptic feedback devices | |
| CN101633169B (en) | Three-degree-of-freedom force sensing hand controller | |
| CN109079757B (en) | Three-degree-of-freedom parallel mechanism applied to teleoperation master hand | |
| CN101480798B (en) | High-precision low-inertia straight-line displacement mechanism of force feedback hand controlled regulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: HAIAN OIL SCIENTIFIC RESEARCH APPARATUS CO., LTD. Free format text: FORMER OWNER: SOWTHEAST UNIV. Effective date: 20140813 Owner name: SOWTHEAST UNIV. Effective date: 20140813 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 210096 NANJING, JIANGSU PROVINCE TO: 226681 NANTONG, JIANGSU PROVINCE |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20140813 Address after: Nan Mo town of Haian County in Jiangsu province 226681 Nantong City Sand Hill Road 28 people Patentee after: Hai'an County Petroleum Scientific Research Instrument Co., Ltd. Patentee after: Southeast University Address before: 210096 Jiangsu city Nanjing Province four pailou No. 2 Patentee before: Southeast University |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120926 Termination date: 20180724 |