CN105835086B - A kind of series parallel type 6DOF force feedback manipulator - Google Patents
A kind of series parallel type 6DOF force feedback manipulator Download PDFInfo
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- CN105835086B CN105835086B CN201610312877.3A CN201610312877A CN105835086B CN 105835086 B CN105835086 B CN 105835086B CN 201610312877 A CN201610312877 A CN 201610312877A CN 105835086 B CN105835086 B CN 105835086B
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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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Abstract
The invention discloses a kind of series parallel type 6DOF force feedback manipulator, including base mechanism, the serial mechanism for setting parallel institution on the base unit, being arranged at parallel institution end, fixed platform that parallel institution includes being fixed on the base mechanism, the positive side chain being flexibly connected of three one end and the fixed platform, the floating platform being flexibly connected with each side chain other end, it is additionally provided with fixed platform by the transmission device driving executive component with each side chain drive connection respectively；Serial mechanism includes three-dimensional force sensor, the handle mechanism with three rotary freedoms being successively set on the floating platform；Driving executive component end, handle mechanism are provided with sensor.The present invention provides the motion input of 6 frees degree, can the neatly locus of capture operation person hand and posture, a good hardware platform is provided for the particularly shape-designing simulation of the simulation in virtual environment, compact-sized, space is adapted to, rigidity is high, motion is flexible.
Description
Technical field
The present invention relates to a kind of device for force feedback, more particularly to a kind of series parallel type 6DOF force feedback manipulator, it can
The locus of capture operation person's hand and posture, the interaction in being designed for Virtual design model.
Background technology
Virtual design model designs, and is that virtual reality technology is manufacturing and designing one of important application of industry, shape-designing personnel borrow
Help virtual reality system to be interacted with virtual environment, shape-designing, analog simulation, performance evaluation, model modification can be carried out
Deng.Compared to traditional CAD software Modeling and Design, moulding can be made by means of the Virtual design model designing technique of virtual reality system
Design is more directly perceived, succinct, is more beneficial for designer and expresses design philosophy rapidly.Wherein dynamic sensing interexchanging technology is virtually to make
Key technology in type design, the simple man-machine interaction for relying on vision and audible reproduction equipment originally is improved, is made one and empty
It is more reliable, true to intend the interaction in the world, can make virtual design that more there is the property immersed, the imagination on the basis of vision, the sense of hearing
Property and interactivity.It is virtual existing and force sense interactive device is the interface that designer carries out dynamic sensing interexchanging with reality environment
Important component in real technological system.Thus force sense interactive device be designed in order to System of Virtual Reality Technology have more
Strong authenticity and the key of interactivity.
There are many colleges and universities and research institute being engaged in the research and development of force feedback equipment both at home and abroad at present, by pair
The literature search discovery of prior art, the Delta series of products of Force Dimension companies of the U.S., what it was designed is a kind of
Freedom degree parallel connection formula force feedback manipulator, there are three freedoms of motion, feedback force is respectively provided with three freedoms of motion,
But the equipment working space is too small, and only there are three freedoms of motion, it is impossible to meet shape-designing personnel in operating space
Hand rotates freely motion, and due to causing product facility expensive using the particularity of material；Chinese Patent Application No.
It is 201510033110.2 entitled：A kind of seven freedom force feedback remote operating hand of switchable type, the patent have seven motions
The free degree and force feedback is respectively provided with seven freedoms of motion, but the motor installed in operational tip causes the fortune of whole equipment
Dynamic inertia and design impedance are larger, have had a strong impact on the accuracy positioning and real-time interaction of equipment；Chinese Patent Application No.
It is 201310042090.6 entitled：A kind of Series-parallel-connforce-feedback force-feedback remote-control manipulator, the patent has 6 freedoms of motion, at 3
There is feedback force in the free degree, and gravitational equilibrium compensation, but end have been carried out by balancing weight on the series connection 3DOF of end
Balance weight mechanism result in the not compact of equipment end structure, kinematic dexterity reduces.
The content of the invention
The purpose of the present invention is the defects of being directed to prior art and deficiency, there is provided one kind is simple and compact for structure, motion is flexible,
Cost is cheap, range of movement is suitable, rigidity is higher, can be designed with Virtual design model in application to the big rigidity of interactive device, motion model
Enclose the requirements such as requirement is relatively low, motion is flexible to match, reality environment that can be in real time with shape-designing carries out dynamic sensing interexchanging
Series parallel type 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, the parallel connection that is arranged on the base mechanism
Mechanism, the serial mechanism for being arranged at parallel institution end, described parallel institution include being fixed on consolidating on the base mechanism
Side chain that fixed platform, three one end and the fixed platform front are flexibly connected, it is flexibly connected with each side chain other end
Floating platform, the floating platform have three one-movement-freedom-degrees, are additionally provided with the fixed platform by transmission device point
Not with the driving executive component of each side chain drive connection；
Described serial mechanism includes being successively set on three-dimensional force sensor on the floating platform, has three rotations
The handle mechanism of the free degree；
The sensing for obtaining hand spatial attitude and locus is provided with the driving executive component, handle mechanism
Device.
Further, each side chain includes a parallel-crank mechanism, is rotationally connected with described parallel four by bearing
The first extension rod and the second extension rod in the middle part of the relative edge of Bian Xing mechanisms two, the first extension rod other end pass through the first rotation
Axle is movably hinged with being fixed on positive two the first support frames of above-mentioned fixed platform, the other end of second extension rod and institute
Floating platform is stated to be fixedly connected.
Further, described parallel-crank mechanism include two the second rotary shafts be arrangeding in parallel, two parallel set
The first rod member put, the both ends of two second rotary shafts are fixedly installed angle joint respectively, and the both ends of first rod member pass through
Bearing is rotatably connected with the angle joint at the both ends of the second rotary shaft.
Further, the driving executive component is fixed on the fixed platform back side by the second support frame.
Further, the driving executive component is to have brush drag cup DC servo motor.
Further, described transmission device includes the driving wheel connected by Steel rope drive and semicircle reduction driven
Wheel, the driving wheel are arranged on the driving executive component output shaft front end, and the semicircle reduction driven wheel passes through the first rotation
Axis of rotation is arranged between two the first support frames, the semicircle reduction driven wheel diameter direction and first extension rod
It is fixedly connected.
Further, described handle mechanism includes the cross supporting frame provided with vertical edge, is orthogonally rotatably arranged on institute
State the X-axis rotary part on cross supporting frame, Y-axis rotary part, the Z axis rotation being rotatably arranged on above-mentioned Y-axis rotary part
Part, described X-axis rotary part are included respectively with the cross supporting frame two with respect to the first disk that vertical edge is rotatably connected
With the second disk, be fixedly connected between first disk and the second disk by support column, the Y-axis rotary part include with
The cross spill spin block of another opposed vertical side rotatable connection of the cross supporting frame, both ends rotation another with the cross spill spin block
The U-shaped spill spin block of connection, described Z axis rotary part include being rotatably arranged at the operation handle in the middle part of the U-shaped spill spin block,
The operation handle is tangentially folded between two support columns.
Further, described sensor includes being arranged at the first sensing inspection of the driving executive component output shaft rear end
Survey element, be arranged at the cross supporting frame side be used to detect the first disk and the second disk rotational the 4th sensing detection it is first
Part, the opposite side of the cross supporting frame is arranged at for detecting the 5th sensing detection element of cross spill spin block rotation, setting
It is used for the 6th sensing detection element for detecting the rotation of operation handle on the U-shaped spill spin block.
Further, the first described sensing detection element is photoelectric rotary coder, the 4th sensing detection member
Part, the 5th sensing detection element, the 6th sensing detection element are angle potentiometer.
Further, it is provided with the first limited block in the fixed platform, edge on the semicircle reduction driven wheel spoke
Arching trajectory is evenly arranged with some regulation screwed holes for being used to install stop screw by certain angle interval；The cross hang
Frame connects and the second limited block is provided with the inside of the vertical edge of the first disk or the second disk, is pressed on first circle or the second disk
Some regulation screwed holes for being used to install stop screw are evenly arranged with to certain angle interval.
Compared with prior art, the beneficial effects of the invention are as follows：
1st, the mixing that the present invention passes through parallel-connection structure and cascaded structure so that series parallel type 6DOF force feedback arm has simultaneously
There is the characteristics of parallel institution rigidity is big, and serial mechanism motion is flexible.In the working space for meeting Virtual design model design and wanting
On the premise of scope so that mechanism has bigger rigidity and kinematic dexterity.
2nd, tail house of the invention is the serial mechanism of three degree of freedom, and the axis of movement of three freedoms of motion intersects
In a bit, and the 5th freedom of motion is among first, second disk of the 4th freedom of motion, so that end
Point is apart from the intersection point distance of parallel institution and serial mechanism closer to feedback force is truer.
3rd, the motion in the transmission mechanism in the present invention between driving wheel and reduction driven wheel and torque pass through steel wire rope
To realize, wire rope gearing, which overcomes conventional gears transmission etc., the influence of drive gap, and shackle line sets the tensioning of appropriateness,
Avoid it from skidding while it is had the longer life-span.
4th, operational tip is free of balance weight mechanism or motor, reduces the movement inertia and movement resistance of whole equipment, and guarantee is set
Standby accuracy positioning, kinematic dexterity and real-time interaction.
5th, it is simple in construction, cost is low, convenient for installation and maintenance.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of the embodiment of the present invention.
Fig. 2 is the detailed maps of Fig. 1 inventive embodiments general structures.
Fig. 3 is the detailed maps of another visual angle general 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 is the cross supporting frame of the serial mechanism of the embodiment of the present invention, the first disk, the second disk, support column, the 4th
The connection diagram of sensing detection element, 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-shaped spill spin block, manipulator
Handle, the 5th sensing detection element, the connection diagram of the 6th sensing detection element.
Figure 10 is the structural representation of the floating platform of the embodiment of the present invention.
It is shown in figure：1. support base, 2. parallel institutions, 3. serial mechanisms, 11. first support bases, 12. second supports
Seat, 13. the 3rd support bases, 211. fixed platforms, 212. first support frames, 213. first rotary shafts, 214. floating platforms, 215.
Second extension rod, 221. semicircle reduction driven wheels, 222. first extension rods, 223. second rotary shafts, 224. first rod members,
225. angle joints, 226. wrapping posts, 231. second support frames, 232. servomotors, 233. encoders, 234. driving wheels, 235.
It is first limited block, 311. cross supporting frames, 312. first disks, 313. second disks, 314. support columns, 315. second spacing
Block, 321. cross spill spin blocks, 322.U shapes spill spin block, 331. operation handles, 341. fourth angle sensors, 342. the 5th angles
Sensor, 343. the 6th angular transducers, 41. three-dimensional force sensors, 51. drive line fixed column screwed holes, the regulation of 52. limited posts
Screwed hole, 53. cylindricality counterbores.
Embodiment
Embodiments of the invention are elaborated below in conjunction with the accompanying drawings：The present embodiment using technical solution of the present invention before
Put and implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to down
The embodiment stated.
As depicted in figs. 1 and 2, a kind of series parallel type 6DOF force feedback manipulator, including base mechanism 1, it is arranged on base
Parallel institution 2 in mechanism, the serial mechanism for being arranged at the end of parallel institution 2.
As shown in fig. 6, the base mechanism 1 includes placing the first support base 11 in the horizontal plane, pass through screw and the
Second support base 12 of one support base 11 connection, the 3rd support base 13 being connected by bolt with the second support base 12, three branch
Support seat constitutes one and placed in the horizontal plane, the cantilever beam for supports in parallel mechanism 2.
With reference to Fig. 3, Fig. 4 and Fig. 5, described parallel institution 2 includes the fixed platform being fixed on the base mechanism 1
211st, three one end are flexibly connected with the front of the fixed platform 211 side chain, it is flexibly connected with each side chain other end
Floating platform 214, the floating platform 214 have three one-movement-freedom-degrees, are additionally provided with the fixed platform 211 and pass through biography
The dynamic device driving executive component with each side chain drive connection respectively, the driving executive component 232 is has brush drag cup direct current
Servomotor.The fixed platform 211 is fixedly connected by bolt with the 3rd support base 13, and the fixed platform 211 is with floating
It is three duplicate side chains between platform 214, the transmission device includes driving wheel 234 and semicircle reduction driven wheel
221, the driving wheel 234 exports axis connection, the driving executive component by the front end of screw and driving executive component 232
232 end output shaft is connected with the first sensing detection element 233, and driving executive component 232 is fixed by the second support frame 231
In fixed platform 211, the semicircle reduction driven wheel 221 is rotatablely connected by bearing and the first rotary shaft 213, and described
One rotary shaft 213 is fixed on two the first support frames 212, and two the first support frames 212 are fixed by screws in fixed flat
On platform 211, wire casing is provided with the semicircle spoke of reduction driven wheel 211, and be symmetrically arranged with two wrapping posts 226 and two
Individual drive line fixed column screwed hole 51, shackle line are close to semicircle reduction driven after winding a few on the wheel of driving wheel 234
The wire casing of wheel 211 is fixed by screws in fixed column screwed hole to after winding on the wrapping post 226 of semicircle reduction driven wheel 211
On 51.Wrapping post 226 be provided with beneficial to drive line fastening and difficultly slip off drive line；In the fixed platform 211
The back side be provided with the first limited block 235, arcuately 15 degree of isogonism is pressed in track on the semicircle spoke of reduction driven wheel 211
Degree interval is machined with it is some be used for install limited post act on stop screws screwed holes 52, first limited block 235 and
The stop screw coordinates to adjust the range of movement of semicircle reduction driven wheel 211.In the semicircle reduction driven wheel
221 diametric(al) is provided with the first extension rod 222 by bolt, and first extension rod 222 passes through deep groove ball bearing and
Two rotary shafts 223 are rotatablely connected.Second extension rod 215 is provided with by bolt on floating platform 214, the second extension rod 215 is logical
Cross deep groove ball bearing to connect with the transhipment of another second rotary shaft 223, the both ends of two the second rotary shafts 223 pass through screw and angle
Joint 225 connects.The angle joint 225 of described two corresponding ends of second rotary shaft 223 passes through deep groove ball bearing and the first rod member
224 connections.In each described side chain, two the first rod members, 224, four angle joints 225, two the second rotary shafts 223
Common structure four Bian Hang mechanisms parallel with one.
As shown in Figure 7 to 9, the three-dimensional force that the serial mechanism 3 includes being successively set on the floating platform 214 passes
Sensor 41, the handle mechanism with three rotary freedoms, the three-dimensional force sensor 41 are arranged on the post on floating platform 214
(see Figure 10) in shape counterbore 53, it is fixedly connected by bolt with floating platform 214 and cross supporting frame 311.The three-dimensional force passes
Sensor 41 can measure the feedback force of tri- direction output of series parallel type 6DOF force feedback manipulator X, Y, Z, the feedback measured
Power is fed back in control system again, and after compared with desired power output, power output compensates in the controller, with
Actual power output is set to be more nearly with desired power output.Cross supporting frame 311 is provided with the three-dimensional force sensor 41,
The first disk 312 and the second disk 313 that vertical edge relative with 311 liang of the cross supporting frame is rotatably connected, first circle
It is fixedly connected between disk 312 and the second disk 313 by support column 314, the rotatable connection of another two opposed vertical side has cross rotation
Switch block 321,321 another both ends of the cross spill spin block rotatable connection have U-shaped spill spin block 322, and the side of cross supporting frame 311 is set
The 4th sensing detection element 341 that the first disk 312 of detection and the second disk 313 rotate is equipped with, the cross supporting frame 311
Opposite side is provided with the 5th sensing detection element 342 that detection cross spill spin block 321 rotates, and is set on the U-shaped spill spin block 322
There is the 6th sensing detection element 343, with detecting the operation handle being fixedly connected with the output shaft of the 6th sensing detection element 343
331 rotation.
As shown in figure 8, arcuately track is machined with some limited posts regulation spiral shells to shown first disk 312 by 15 degree of interval
Pit 54, for having installed the stop screw of position-limiting action, in the cross supporting frame 311 close with first disk
Side, the second limited block 315 is provided with, second limited block 315 coordinates with stop screw, adjusts the first disk 312 and second
The range of movement of disk 313, second disk 313 are fixed by screw and support column 314.Outside first disk 312
Side is provided with connection rotating shaft 353, and the connection rotating shaft 353 is rotatablely connected by deep groove ball bearing 351 and cross supporting frame 311,
The outside of second disk 313 is provided with connecting bushing 354, and the connecting bushing 354 is provided circumferentially about screwed hole, with setting
The output shaft put in the 4th sensing detection element 341 in the outside of cross supporting frame 311 is fixedly connected by screw.
In the present embodiment, the first sensing detection element 233 is photoelectric rotary coder, the 4th sensing detection
Element 341, the 5th sensing detection element 342, the 6th sensing detection element 343 are angle potentiometer, are quick on the draw, and precision is high.
Each gear reduction system of parallel institution connects three driving wheels 234 and three by shackle line in the present embodiment
Individual semicircle reduction driven wheel 221, shackle line slow down after a few are wound on the helicla flute of driving wheel 234 around semicircle
On the wire casing of driven pulley 221 and fixed on semicircle reduction driven wheel 221, shackle line is with high intensity and highly anti-fatigue
The 7*7 steel wire ropes of property；Serial mechanism 3 has three rotary freedoms, can detect above and below operator's hand, the swing of left and right with
And the rotation three degree of freedom of hand, parallel institution 2 are used in mixed way with serial mechanism 3 so that equipment is with big rigidity, conjunction
On the premise of suitable operating space, operation is more flexible.
The type of belt drive of the present embodiment is driven for line, is passed by the shackle line of tensioning between driving wheel and each driven pulley
Pass motion and torque.Line stable drive, inertia is small, without drive gap, without drive noise, cost is cheap, sets strainer to make
Drive line is moderately tensioned, and is both avoided that transmission slip, and can makes shackle line have longer service life.
The purpose of the present invention is as interactive tool and virtual reality ring in Virtual design model design force feedback manipulator
Border interacts, and enables the system to detect locus and the spatial attitude of operator's hand, and obtains operation hand and machinery
Feedback business at arm contact, wherein for determining that it is anti-that 3 frees degree on the parallel institution of operator's hand locus have
Power output is presented, feedback force is engaged to realize by DC servo motor with line gear reduction mechanism, for determining operator's hand
The three degree of freedom of the part in series of portion's spatial attitude is detected by three high precision photoelectric encoders, is in virtual environment
Simulation provides a good hardware platform, and compact-sized, space is adapted to, rigidity is high, motion is flexible, its course of work
And principle is as follows：
1st, the spatial attitude of hand obtains
When operator's hand pinches operation handle 331 and makes arm rotation, the also rotation simultaneously of operation handle 331, due to
Operation handle 331 is fixed with the output shaft of the 6th sensing detection element 343, and the shell of the 6th sensing detection element 343 is consolidated
It is scheduled on U-shaped spill spin block 322, so as to which the 6th sensing detection element 343 can detect the automatic motion of arm.When operator pinches
Operation handle 331 between the first disk 312 and the second disk 313 left and right pendulum when, operation handle 331, U-shaped spill spin block 322, ten
Word spill spin block 321 does not have relative motion in the direction, so as to which the three rotates as an entirety on cross supporting frame 311,
Because the output shaft of cross spill spin block 321 and the 5th sensing detection element 342 is coaxially fixed, so as to the 5th sensing detection element just
The transhipment situation of cross spill spin block 321 can be detected, namely hand swings angle change.When operator pinches operation handle
331 when swinging up and down, because the support column 314 between the disk 312 of operation handle 331 and first and the second disk 313 is tangent, from
And the first disk 312, the second disk 313 upper bottom together, due to the 4th sensing detection element 341 output shaft and be fixed on the
Connecting bushing 354 on one disk 312 is coaxially fixed, so as to which the 4th sensing detection element 341 just can detect the first disk 312
Rotation situation, namely the angle change that hand is swung up and down.
2nd, the locus of hand obtains
When operator's operating robotic arm is moved in working space, floating platform 214 is relative to fixation in parallel institution 2
Platform 211 moves, connection floating platform 214 and three identical side chains change relative angle of fixed platform 211, i.e., and three and half
Angle change occurs for circular reduction driven wheel 221, because semicircle reduction driven wheel 221 passes through shackle line and driving wheel
234 connections, so as to which driving wheel 234 also produces rotation, occur corresponding angle change, are then fixed with driving wheel with 234 axles
Drive the axle of executive component 232 that corresponding angle change occurs, while also make first sensing coaxial with driving executive component 232
Detecting element 233 detects the angle of change.Three the first sensing detection elements 233 have detected respectively three it is semicircle slow down from
The angle variate of driving wheel 221, by the computing of direct kinematics, mechanical arm tail end can be calculated in the position in space.
The above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not to the present invention
Embodiment restriction.For those of ordinary skill in the field, can also make on the basis of the above description
The change or variation of other forms.There is no necessity and possibility to exhaust all the enbodiments.All spirit in the present invention
With any modification equivalent substitution for being made within principle and improve etc., should be included in the claims in the present invention protection domain it
It is interior.
Claims (6)
1. a kind of series parallel type 6DOF force feedback manipulator, including base mechanism (1), it is arranged on the base mechanism (1)
Parallel institution（2）, be arranged at parallel institution（2）The serial mechanism of end（3）, it is characterised in that：Described parallel institution（2）Bag
Include the fixed platform being fixed on the base mechanism (1)（211）, three one end and the fixed platform（211）Positive activity
The side chain of connection, the floating platform being flexibly connected with each side chain other end（214）, the floating platform（214）With three
Individual one-movement-freedom-degree, the fixed platform（211）On be additionally provided with by the transmission device drive with each side chain drive connection respectively
Dynamic executive component；Described serial mechanism（3）Including being successively set on the floating platform（214）On three-dimensional force sensor
（41）, there is the handle mechanisms of three rotary freedoms；It is provided with the driving executive component, handle mechanism for obtaining hand
Portion's spatial attitude and the sensor of locus；Each side chain includes a parallel-crank mechanism, is rotatablely connected by bearing
The first extension rod in the middle part of the relative edge of parallel-crank mechanism two（222）With the second extension rod（215）, described first prolongs
Stock（222）The other end passes through the first rotary shaft（213）With being fixed on above-mentioned fixed platform（211）Positive two first supports
Frame（212）It is movably hinged, second extension rod（215）The other end and the floating platform（214）It is fixedly connected；
The driving executive component（232）Pass through the second support frame（231）It is fixed on the fixed platform（211）The back side；It is described
Transmission device include by Steel rope drive connection driving wheel（234）With semicircle reduction driven wheel（221）, the active
Wheel（234）It is arranged on the driving executive component（232）Output shaft front end, the semicircle reduction driven wheel（221）Pass through
One rotary shaft（213）It is rotatably arranged on two the first support frames（212）Between, the semicircle reduction driven wheel（221）Diameter
Direction and first extension rod（222）It is fixedly connected；Described handle mechanism includes the cross supporting frame provided with vertical edge
（311）, be orthogonally rotatably arranged on the cross supporting frame（311）On X-axis rotary part, Y-axis rotary part, rotate set
Z axis rotary part on above-mentioned Y-axis rotary part, described X-axis rotary part include respectively with the cross supporting frame
（311）First disk of two relative vertical edge rotatable connections（312）With the second disk（313）, first disk（312）With
Two disks（313）Between pass through support column（314）It is fixedly connected, the Y-axis rotary part includes and the cross supporting frame
（311）Another opposed vertical side rotatable connection cross spill spin block（321）, with the cross spill spin block（321）Another both ends rotation
Turn the U-shaped spill spin block of connection（322）, described Z axis rotary part is including being rotatably arranged at the U-shaped spill spin block（322）In
The operation handle in portion（331）, the operation handle（331）Tangentially it is folded in positioned at the first disk（312）, the second disk
（313）Between two support columns（314）Between.
2. series parallel type 6DOF force feedback manipulator according to claim 1, it is characterised in that：
Described parallel-crank mechanism includes two the second rotary shafts be arrangeding in parallel（223）, two pieces be arranged in parallel first
Rod member（224）, two second rotary shafts（223）Both ends be fixedly installed angle joint respectively（225）, first rod member
（224）Both ends pass through bearing and the second rotary shaft（223）Both ends angle joint（225）Rotatable connection.
3. series parallel type 6DOF force feedback manipulator according to claim 1, it is characterised in that：The driving performs member
Part（232）To there is brush drag cup DC servo motor.
4. series parallel type 6DOF force feedback manipulator according to claim 1, it is characterised in that：Described sensor bag
Include and be arranged at the driving executive component（232）Export the first sensing detection element of shaft rear end（233）, be arranged at the cross
Support frame（311）Side is used to detect the first disk（312）With the second disk（313）The 4th sensing detection element rotated
（341）, be arranged at the cross supporting frame（311）Opposite side be used for detect cross spill spin block（321）The 5th sensing rotated
Detecting element（342）, be arranged on the U-shaped spill spin block（322）It is upper to be used to detect operation handle（331）Rotation the 6th sensing
Detecting element（343）.
5. series parallel type 6DOF force feedback manipulator according to claim 4, it is characterised in that：The first described sensing
Detecting element（233）For photoelectric rotary coder, the 4th sensing detection element（341）, the 5th sensing detection element
（342）, the 6th sensing detection element（343）For angle potentiometer.
6. series parallel type 6DOF force feedback manipulator according to claim 1, it is characterised in that：The fixed platform
（211）On be provided with the first limited block（235）, the semicircle reduction driven wheel（221）Arcuately track is pressed necessarily on spoke
Angle interval is evenly arranged with some regulation screwed holes for being used to install stop screw（52）；The cross supporting frame（311）Even
Connect the first disk（312）Or second disk（313）Vertical edge on the inside of be provided with the second limited block（315）, first disk
（312）Or second disk（313）On some be used to the regulation spiral shells of stop screw are installed by being evenly arranged with to certain angle interval
Pit（52）.
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| CN201610312877.3A CN105835086B (en) | 2016-05-11 | 2016-05-11 | A kind of series parallel type 6DOF force feedback manipulator |
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| CN201610312877.3A CN105835086B (en) | 2016-05-11 | 2016-05-11 | A kind of series parallel type 6DOF force feedback manipulator |
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Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN107272513B (en) * | 2017-07-31 | 2019-04-19 | 北京航空航天大学 | Three dimensional rotation force feedback equipment |
| CN108481307B (en) * | 2018-03-29 | 2021-01-08 | 燕山大学 | Continuous robot for large load bearing |
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