CN105215992A - For the multiple degrees of freedom power feel feedback device of man-machine interaction - Google Patents
For the multiple degrees of freedom power feel feedback device of man-machine interaction Download PDFInfo
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- CN105215992A CN105215992A CN201410291332.XA CN201410291332A CN105215992A CN 105215992 A CN105215992 A CN 105215992A CN 201410291332 A CN201410291332 A CN 201410291332A CN 105215992 A CN105215992 A CN 105215992A
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Abstract
The present invention relates to a kind of multiple degrees of freedom power for man-machine interaction feel feedback device, comprise support, upper arm link mechanism, linkage connector, lower arm link mechanism, shoulder joint longitudinal force feedback motor, shoulder joint cross force feedback motor, elbow joint longitudinal force feedback motor, elbow joint cross force feedback motor, wrist joint axial force feedback motor, wrist joint radial load feedback motor, shoulder joint motor fixing frame, wrist joint axial direction electric machine fixed mount, wrist joint radial motor fixed mount and handle, the present invention is used for the multiple degrees of freedom power feel feedback device of man-machine interaction, upper arm link mechanism is connected by series system with lower arm link mechanism, mechanism is simple, be convenient to process installment and debugging, each mechanism can drive separately simultaneously, simplify the control algolithm of computer.
Description
Technical field
The present invention relates to a kind of human-computer interaction device, particularly relate to a kind of multiple degrees of freedom power for man-machine interaction feel feedback device.
Background technology
At the technical development of computer initial stage, the information interaction between man-machine is completed by traditional input-output equipment such as mouse-keyboard and display, and user can only obtain the perception of vision or the sense of hearing, and cannot obtain more sensory information.Along with appearance and the development of virtual reality technology, man-machine interaction mode is also constantly being changed, the appearance of the novel interactive devices such as 3D mouse, anaglyph spectacles, data glove improves the sensory experience of user greatly, and the interaction technique therefore studying more sense organs is very important.
Force feedback technique is the technology of virtual three-dimensional environment power being carried out to true reappearance in virtual reality technology, and research shows, power feel is only second to vision to the importance that the mankind explore the world.Can be obtained and identical power sense and kinesthesia when touching actual object by force feedback, thus obtain more real feeling of immersion.In recent years, force feedback technique has been widely used in the fields such as medical science, industry, space probation, derives the computer force feedback interactive system that virtual intervene operation, Virtual assemble etc. are advanced.Therefore, develop and a kind ofly there is multidimensional feel feedback device for the multiple degrees of freedom power of man-machine interaction, more real power can be obtained and feel feedback effects, raising computer virtual training effectiveness, there is important using value and practical significance, and the domestic research and development to this block or blank out at present.
Summary of the invention
The technical problem to be solved in the present invention is: in order to solve the problem, and the invention provides a kind of multiple degrees of freedom power for man-machine interaction and feels that feedback device solves the problems referred to above.
The technical solution adopted for the present invention to solve the technical problems is: a kind of feel of the multiple degrees of freedom power for man-machine interaction feedback device, comprise support, upper arm link mechanism, linkage connector, lower arm link mechanism, shoulder joint longitudinal force feedback motor, shoulder joint cross force feedback motor, elbow joint longitudinal force feedback motor, elbow joint cross force feedback motor, wrist joint axial force feedback motor, wrist joint radial load feedback motor, shoulder joint motor fixing frame, wrist joint axial direction electric machine fixed mount, wrist joint radial motor fixed mount and handle, described shoulder joint motor fixing frame is fixed on the top of support, described shoulder joint motor fixing frame is arranged shoulder joint longitudinal force feedback motor and shoulder joint cross force feedback motor, the output shaft of described shoulder joint longitudinal force feedback motor is vertical with the output shaft of shoulder joint cross force feedback motor, described upper arm link mechanism comprises the first upper boom and the first lower beam that be arranged in parallel, the first described lower beam is positioned at the below of the first upper boom, the output shaft of described shoulder joint longitudinal force feedback motor and the side of the first upper boom hinged, the first described upper boom is vertical with the direction that the output shaft that shoulder joint longitudinal force feeds back motor rotates relative to the direction of the output shaft rotation of shoulder joint longitudinal force feedback motor, the output shaft of the motor of described shoulder joint cross force feedback and the side of the first lower beam hinged, the first described lower beam is vertical with the direction that the output shaft that shoulder joint cross force feeds back motor rotates relative to the direction of the output shaft rotation of shoulder joint cross force feedback motor, the first described upper boom and the first lower beam hinged with linkage connector respectively away from one end of shoulder joint motor fixing frame, described linkage connector is arranged elbow joint longitudinal force feedback motor and elbow joint cross force feedback motor, the output shaft of described elbow joint longitudinal force feedback motor is vertical with elbow joint cross force feedback motor output shaft, described lower arm link mechanism comprises the second upper boom and the second lower beam that be arranged in parallel, the second described lower beam is positioned at the below of the second upper boom, output shaft and second upper boom of described elbow joint longitudinal force feedback motor are hinged, the second described upper boom is vertical with the direction that the output shaft that elbow joint longitudinal force feeds back motor rotates relative to the direction of the output shaft rotation of elbow joint longitudinal force feedback motor, output shaft and second lower beam of the motor of described elbow joint cross force feedback are hinged, the second described lower beam is vertical with the direction that the output shaft that elbow joint cross force feeds back motor rotates relative to the direction of the output shaft rotation of elbow joint cross force feedback motor, the second described upper boom and the second lower beam hinged with wrist joint axial direction electric machine fixed mount respectively away from one end of linkage connector, described wrist joint axial direction electric machine fixed mount is arranged wrist joint axial force feedback motor, the output shaft of described wrist joint axial force feedback motor is fixedly connected with the first gear, described wrist joint axial direction electric machine fixed mount is also provided with the second gear, the second described gear is fixed on wrist joint axial direction electric machine fixed mount by bearing, the second described gear and the first gears meshing, the wheel side of described second gear connects wrist joint radial motor fixed mount, described wrist joint radial motor fixed mount is arranged wrist joint radial load feedback motor, the output shaft of described wrist joint radial load feedback motor is vertical with the output shaft that wrist joint axial force feeds back motor, the output shaft of described wrist joint radial load feedback motor is connected with handle setting plate is vertical, the end connecting handle of described handle setting plate.The feedback motor of this device is by Signal transmissions to after computer, and computer utilizes simulation softward arm motion track etc. can be reduced in a computer, adds up and calculates.
In order to better operability, in described lower arm link mechanism, the arm be provided with for the underarm of people and lower arm link mechanism being fixed together dresses ring.
According to the height of different operating person, handled easily person operates, described support comprises base and retractor device, described retractor device comprise hollow lower expansion link, be arranged on upper expansion link in lower expansion link and for regulating the regulation cock of upper expansion link collapsing length from lower expansion link.
In order to avoid gravity is on the impact of operator's arm, the first described upper boom and the first lower beam are all provided with counterweight away from one end of linkage connector, described counterweight is cylinder, the through hole matched with the first upper boom and the first lower beam is had between Liang Ge bottom center, in described through hole, there is internal thread, the first described upper boom and the outer wall of the first lower beam away from the side of linkage connector have external screw thread, described internal thread and external screw thread with the use of.
In order to improve FEEDBACK CONTROL precision, between described handle setting plate and handle, be also provided with multi-dimensional force torque sensor.
Described shoulder joint longitudinal force feedback motor, shoulder joint cross force feedback motor, elbow joint longitudinal force feedback motor, elbow joint cross force feedback motor, wrist joint axial force feedback motor and wrist joint radial load feedback motor are all direct current generator and are all provided with the photoelectric coded disk for measuring rotational angle.
Specifically, the side of the first described upper boom has the first articulated elements, the first described articulated elements comprises cuboid in hollow and the first articulated section of upper and lower opening and the first rotating shaft, the end of two minor faces of the first described articulated section is fixedly connected with the first upper boom respectively, the center on two long limits all has the first through hole, the output shaft of described shoulder joint longitudinal force feedback motor has the second through hole, the output shaft of described shoulder joint longitudinal force feedback motor is stretched to be inserted by the first rotating shaft after the second through hole overlaps with the first through hole from the opening of the first articulated section and fixes.
Specifically, the side of the first described lower beam has the second articulated elements, the second described articulated elements comprises cuboid in hollow and the second articulated section of upper and lower opening and the second rotating shaft, the end of two minor faces of the second described articulated section is fixedly connected with the first lower beam respectively, the center on two long limits all has third through-hole, the output shaft of described shoulder joint cross force feedback motor has fourth hole, the output shaft of described shoulder joint cross force feedback motor stretches to after fourth hole overlaps with third through-hole from the opening of the second junction to be fixed by the second rotating shaft insertion.
Be provided with lug boss up and down in the middle part of the first described articulated section and the long limit of the second articulated section, the cross section of described lug boss is trapezoidal.The effect that one supports upper arm link mechanism and lower arm link mechanism will be played in first articulated section and the second articulated section, therefore a fulcrum is equivalent to, if it is meticulous that periphery does, insufficient strength, but do slightly, corner will diminish, so while ensureing certain rugosity, added a lug boss and gained in strength.
The invention has the beneficial effects as follows, the present invention is used for the multiple degrees of freedom power feel feedback device of man-machine interaction,
1, the multiple degrees of freedom power for man-machine interaction feels that the upper arm link mechanism of feedback device is connected by series system with lower arm link mechanism, and mechanism is simple, is convenient to process installment and debugging, and each mechanism can drive separately simultaneously, simplifies the control algolithm of computer.
2, height adjustable of the present invention, support is by base, and lower expansion link, upper expansion link and regulation cock form, the length regulating upper expansion link to stretch out by regulation cock, thus regulate the height of whole device, with the height requirement of applicable different operating person.
3, the present invention adopts flexible arm wearing ring operator's arm and device for force feedback underarm to be fixed, and utilize the gravity of counterweight canceller on the impact of operator's arm, the comfort level of operating process can be ensured, improve the sense of reality and the feeling of immersion of computer virtual training.
4, arm end movement space of the present invention is large, the force and moment of multiple free degree can be provided to feed back, the size of force and moment can be recorded by multi-dimensional force torque sensor, realizes the accurate control of feedback force and moment size, thus adapts to the requirement of multiple virtual training project.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the structural representation of the present invention for an angle of the multiple degrees of freedom power feel feedback device of man-machine interaction,
Fig. 2 is the structural representation of the present invention for another angle of the multiple degrees of freedom power feel feedback device of man-machine interaction,
Fig. 3 is the structural representation of the present invention for the second articulated elements of the multiple degrees of freedom power feel feedback device of man-machine interaction.
In figure 1, support, 2, shoulder joint longitudinal force feedback motor, 3, shoulder joint cross force feedback motor, 4, elbow joint longitudinal force feedback motor, 5, elbow joint cross force feedback motor, 6, wrist joint axial force feedback motor, 7, wrist joint radial load feedback motor, 8, shoulder joint motor fixing frame, 9, wrist joint axial direction electric machine fixed mount, 10, wrist joint radial motor fixed mount, 11, handle, 12, linkage connector, 13, first upper boom, 14, first lower beam, 15, second upper boom, 16, second lower beam, 17, first gear, 18, second gear, 19, handle setting plate, 20, counterweight, 21, multi-dimensional force torque sensor, 22, first articulated elements, 23, first articulated section, 24, first rotating shaft, 25, second articulated elements, 26, second articulated section, 27, second rotating shaft, 28, lug boss.
Detailed description of the invention
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, only basic structure of the present invention are described in a schematic way, and therefore it only shows the formation relevant with the present invention.
As shown in Figure 1-2, a kind of feel of the multiple degrees of freedom power for man-machine interaction feedback device, comprise support 1, upper arm link mechanism, linkage connector 12, lower arm link mechanism, shoulder joint longitudinal force feedback motor 2, shoulder joint cross force feedback motor 3, elbow joint longitudinal force feedback motor 4, elbow joint cross force feedback motor 5, wrist joint axial force feedback motor 6, wrist joint radial load feedback motor 7, shoulder joint motor fixing frame 8, wrist joint axial direction electric machine fixed mount 9, wrist joint radial motor fixed mount 10, handle setting plate 19 and handle 11, shoulder joint motor fixing frame 8 is fixed on the top of support 1, shoulder joint motor fixing frame 8 is arranged shoulder joint longitudinal force feedback motor 2 and shoulder joint cross force feedback motor 3, the output shaft of shoulder joint longitudinal force feedback motor 2 is vertical with the output shaft of shoulder joint cross force feedback motor 3, upper arm link mechanism comprises the first upper boom 13 and the first lower beam 14 be arranged in parallel, the side of the shoulder joint longitudinal force feedback output shaft of motor 2 and the first upper boom 13 is hinged, first upper boom 13 is vertical with the direction that the output shaft that shoulder joint longitudinal force feeds back motor 2 rotates relative to the direction of the output shaft rotation of shoulder joint longitudinal force feedback motor 2, the side of the shoulder joint cross force feedback output shaft of motor 3 and the first lower beam 14 is hinged, first lower beam 14 is vertical with the direction that the output shaft that shoulder joint cross force feeds back motor 3 rotates relative to the direction of the output shaft rotation of shoulder joint cross force feedback motor 3, first upper boom 13 and the first lower beam 14 hinged with linkage connector 12 respectively away from one end of shoulder joint motor fixing frame 8, linkage connector 12 is arranged elbow joint longitudinal force feedback motor 4 and elbow joint cross force feedback motor 5, the output shaft of elbow joint longitudinal force feedback motor 4 is vertical with elbow joint cross force feedback motor 5 output shaft, lower arm link mechanism comprises the second upper boom 15 and the second lower beam 16 be arranged in parallel, output shaft and second upper boom 15 of elbow joint longitudinal force feedback motor 4 are hinged, second upper boom 15 is vertical with the direction that the output shaft that elbow joint longitudinal force feeds back motor 4 rotates relative to the direction of the output shaft rotation of elbow joint longitudinal force feedback motor 4, output shaft and second lower beam 16 of elbow joint cross force feedback motor 5 are hinged, second lower beam 16 is vertical with the direction that the output shaft that elbow joint cross force feeds back motor 5 rotates relative to the direction of the output shaft rotation of elbow joint cross force feedback motor 5, second upper boom 15 and the second lower beam 16 hinged with wrist joint axial direction electric machine fixed mount 9 respectively away from one end of linkage connector 12, wrist joint axial direction electric machine fixed mount 9 is arranged wrist joint axial force feedback motor 6, the output shaft of wrist joint axial force feedback motor 6 is fixedly connected with the first gear 17, wrist joint axial direction electric machine fixed mount 9 is also provided with the second gear 18, second gear 18 is fixed on wrist joint axial direction electric machine fixed mount 9 by bearing, second gear 18 engages with the first gear 17, the wheel side of the second gear 18 connects wrist joint radial motor fixed mount 10, wrist joint radial motor fixed mount 10 is arranged wrist joint radial load feedback motor 7, the output shaft of wrist joint radial load feedback motor 7 is vertical with the output shaft that wrist joint axial force feeds back motor 6, the output shaft of wrist joint radial load feedback motor 7 is connected with handle setting plate 19 one end is vertical, the other end connecting handle 11 of handle setting plate 19.
Arm lower arm link mechanism is provided with for the underarm of people and lower arm link mechanism being fixed together dresses ring, and arm is dressed ring and is made up of flexible material, for fixing lower arm link mechanism and human arm, device can be synchronized with the movement with human arm.
Support 1 comprises base and retractor device, retractor device comprise hollow lower expansion link, be arranged on upper expansion link in lower expansion link and for regulating the regulation cock of upper expansion link collapsing length from lower expansion link.
First upper boom 13 and the first lower beam 14 are all provided with counterweight 20 away from one end of linkage connector 12, counterweight 20 is in cylinder, the through hole matched with the first upper boom and the first lower beam is had between Liang Ge bottom center, in through hole, there is internal thread, first upper boom 13 and the outer wall of the first lower beam 14 away from the side of linkage connector 12 has external screw thread, internal thread and external screw thread with the use of, can by regulating the position of counterweight 20, change the impact of gravity on operator's arm, and counterweight 20 is equivalent to the first articulated elements 22 and the second articulated elements 25 for fulcrum, carry out the impact of balancing gravity on operator's arm.
Multi-dimensional force torque sensor 21 is also provided with between handle setting plate 19 and handle 11.
Shoulder joint longitudinal force feedback motor 2, shoulder joint cross force feedback motor 3, elbow joint longitudinal force feedback motor 4, elbow joint cross force feedback motor 5, wrist joint axial force feedback motor 6 and wrist joint radial load feedback motor 7 are all direct current generator and are all provided with the photoelectric coded disk for measuring rotational angle.The motor that each turning joint of this device is installed is direct current generator, and with photoelectric coded disk, can rotational angle be measured, and then draw the three-dimensional space position of the multiple degrees of freedom power feel feedback device end for man-machine interaction by each joint geometrical relationship and Size calculation.
As shown in Figure 3, the side of the first upper boom 13 has the first articulated elements 22, first articulated elements 22 comprises cuboid in hollow and the first articulated section 23 and the first rotating shaft 24 of upper and lower opening, the end of two minor faces of the first articulated section 23 is fixedly connected with the first upper boom 13 respectively, the center on two long limits all has the first through hole, shoulder joint longitudinal force feedback motor 2 output shaft on there is the second through hole, shoulder joint longitudinal force feedback motor 2 output shaft from the opening of the first articulated section 23 stretch to the second through hole overlap with the first through hole after by the first rotating shaft 24 insert fix.
The side of the first lower beam 14 has the second articulated elements 25, second articulated elements 25 comprises cuboid in hollow and the second articulated section 26 and the second rotating shaft 27 of upper and lower opening, the end of two minor faces of the second articulated section 26 is fixedly connected with the first lower beam 14 respectively, the center on two long limits all has third through-hole, the output shaft of shoulder joint cross force feedback motor 3 has fourth hole, and the output shaft of described shoulder joint cross force feedback motor 3 stretches to after fourth hole overlaps with third through-hole from the opening of the second articulated section 26 to be fixed by the second rotating shaft 27 insertion.
This connected mode can make upper arm link mechanism and lower arm link mechanism have the rotational freedom of both direction.
Be provided with lug boss 28 up and down in the middle part of the long limit of the first articulated section 23 and the second articulated section 26, the cross section of lug boss 28 is trapezoidal.
The effect that one supports upper arm link mechanism and lower arm link mechanism will be played in first articulated section 23 and the second articulated section 26, therefore a fulcrum is equivalent to, if it is meticulous that periphery does, insufficient strength, but do slightly, corner will diminish, so while ensureing certain rugosity, added a lug boss 28 and gained in strength.
With above-mentioned according to desirable embodiment of the present invention for enlightenment, by above-mentioned description, relevant staff in the scope not departing from this invention technological thought, can carry out various change and amendment completely.The technical scope of this invention is not limited to the content on description, must determine its technical scope according to right.
Claims (9)
1. the feel of the multiple degrees of freedom power for a man-machine interaction feedback device, it is characterized in that: comprise support (1), upper arm link mechanism, linkage connector (12), lower arm link mechanism, shoulder joint longitudinal force feedback motor (2), shoulder joint cross force feedback motor (3), elbow joint longitudinal force feedback motor (4), elbow joint cross force feedback motor (5), wrist joint axial force feedback motor (6), wrist joint radial load feedback motor (7), shoulder joint motor fixing frame (8), wrist joint axial direction electric machine fixed mount (9), wrist joint radial motor fixed mount (10), handle setting plate (19) and handle (11),
Described shoulder joint motor fixing frame (8) is fixed on the top of support (1), described shoulder joint motor fixing frame (8) is arranged shoulder joint longitudinal force feedback motor (2) and shoulder joint cross force feedback motor (3), the output shaft of described shoulder joint longitudinal force feedback motor (2) is vertical with the output shaft of shoulder joint cross force feedback motor (3), described upper arm link mechanism comprises the first upper boom (13) and the first lower beam (14) that be arranged in parallel, the output shaft of described shoulder joint longitudinal force feedback motor (2) and the side of the first upper boom (13) hinged, described the first upper boom (13) is vertical with the direction that the output shaft that shoulder joint longitudinal force feeds back motor (2) rotates relative to the direction of the output shaft rotation of shoulder joint longitudinal force feedback motor (2), the output shaft of described shoulder joint cross force feedback motor (3) and the side of the first lower beam (14) hinged, described the first lower beam (14) is vertical with the direction that the output shaft that shoulder joint cross force feeds back motor (3) rotates relative to the direction of the output shaft rotation of shoulder joint cross force feedback motor (3), described the first upper boom (13) and the first lower beam (14) hinged with linkage connector (12) respectively away from one end of shoulder joint motor fixing frame (8)
Described linkage connector (12) is arranged elbow joint longitudinal force feedback motor (4) and elbow joint cross force feedback motor (5), the output shaft of described elbow joint longitudinal force feedback motor (4) is vertical with elbow joint cross force feedback motor (5) output shaft, described lower arm link mechanism comprises the second upper boom (15) and the second lower beam (16) that be arranged in parallel, output shaft and second upper boom (15) of described elbow joint longitudinal force feedback motor (4) are hinged, described the second upper boom (15) is vertical with the direction that the output shaft that elbow joint longitudinal force feeds back motor (4) rotates relative to the direction of the output shaft rotation of elbow joint longitudinal force feedback motor (4), output shaft and second lower beam (16) of described elbow joint cross force feedback motor (5) are hinged, described the second lower beam (16) is vertical with the direction that the output shaft that elbow joint cross force feeds back motor (5) rotates relative to the direction of the output shaft rotation of elbow joint cross force feedback motor (5), described the second upper boom (15) and the second lower beam (16) hinged with wrist joint axial direction electric machine fixed mount (9) respectively away from one end of linkage connector (12)
Described wrist joint axial direction electric machine fixed mount (9) is arranged wrist joint axial force feedback motor (6), the output shaft of described wrist joint axial force feedback motor (6) is fixedly connected with the first gear (17), described wrist joint axial direction electric machine fixed mount (9) is also provided with the second gear (18), described the second gear (18) is fixed on wrist joint axial direction electric machine fixed mount (9) by bearing, described the second gear (18) engages with the first gear (17), the wheel side of described second gear (18) connects wrist joint radial motor fixed mount (10), described wrist joint radial motor fixed mount (10) is arranged wrist joint radial load feedback motor (7), the output shaft of described wrist joint radial load feedback motor (7) is vertical with the output shaft that wrist joint axial force feeds back motor (6), the output shaft of described wrist joint radial load feedback motor (7) is connected with handle setting plate (19) one end is vertical, the other end connecting handle (11) of described handle setting plate (19).
2. the feel of the multiple degrees of freedom power for man-machine interaction feedback device according to claim 1, is characterized in that: in described lower arm link mechanism, the arm be provided with for the underarm of people and lower arm link mechanism being fixed together dresses ring.
3. the feel of the multiple degrees of freedom power for man-machine interaction feedback device according to claim 2, it is characterized in that: described support (1) comprises base and retractor device, described retractor device comprise hollow lower expansion link, be arranged on upper expansion link in lower expansion link and for regulating the regulation cock of upper expansion link collapsing length from lower expansion link.
4. the feel of the multiple degrees of freedom power for man-machine interaction feedback device according to claim 3, it is characterized in that: described the first upper boom (13) and the first lower beam (14) are all provided with counterweight (20) away from one end of linkage connector (12), described counterweight (20) is in cylinder, the through hole matched with the first upper boom and the first lower beam is had between Liang Ge bottom center, in described through hole, there is internal thread, described the first upper boom (13) and the outer wall of the first lower beam (14) away from the side of linkage connector (12) has external screw thread, described internal thread and external screw thread with the use of.
5. the feel of the multiple degrees of freedom power for man-machine interaction feedback device according to claim 4, is characterized in that: be also provided with multi-dimensional force torque sensor (21) between described handle setting plate (19) and handle (11).
6. the feel of the multiple degrees of freedom power for man-machine interaction feedback device according to claim 5, is characterized in that: described shoulder joint longitudinal force feedback motor (2), shoulder joint cross force feedback motor (3), elbow joint longitudinal force feedback motor (4), elbow joint cross force feedback motor (5), wrist joint axial force feed back motor (6) and wrist joint radial load feedback motor (7) is all direct current generator and is all provided with the photoelectric coded disk for measuring rotational angle.
7. the feel of the multiple degrees of freedom power for man-machine interaction feedback device according to claim 6, it is characterized in that: the side of described the first upper boom (13) has the first articulated elements (22), described the first articulated elements (22) comprises cuboid in hollow and first articulated section (23) of upper and lower opening and the first rotating shaft (24), the end of two minor faces of described the first articulated section (23) is fixedly connected with the first upper boom (13) respectively, the center on two long limits all has the first through hole, the output shaft of described shoulder joint longitudinal force feedback motor (2) has the second through hole, the output shaft of described shoulder joint longitudinal force feedback motor (2) is stretched to be inserted by the first rotating shaft (24) after the second through hole overlaps with the first through hole from the opening of the first articulated section (23) and fixes.
8. the feel of the multiple degrees of freedom power for man-machine interaction feedback device according to claim 7, it is characterized in that: the side of described the first lower beam (14) has the second articulated elements (25), described the second articulated elements (25) comprises cuboid in hollow and second articulated section (26) of upper and lower opening and the second rotating shaft (27), the end of two minor faces of described the second articulated section (26) is fixedly connected with the first lower beam (14) respectively, the center on two long limits all has third through-hole, the output shaft of described shoulder joint cross force feedback motor (3) has fourth hole, the output shaft of described shoulder joint cross force feedback motor (3) stretches to after fourth hole overlaps with third through-hole from the opening of the second articulated section (26) to be fixed by the second rotating shaft (27) insertion.
9. the feel of the multiple degrees of freedom power for man-machine interaction feedback device according to claim 8, it is characterized in that: be provided with lug boss (28) up and down in the middle part of described the first articulated section (23) and the long limit of the second articulated section (26), the cross section of described lug boss (28) is trapezoidal.
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| CN107632701A (en) * | 2017-08-03 | 2018-01-26 | 东南大学 | A kind of control method of man-machine interaction virtual training force feedback parameter |
| 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 |
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