CN106808461A - Magnetorheological force feedback type data glove and realize remote-operated method using it - Google Patents
Magnetorheological force feedback type data glove and realize remote-operated method using it Download PDFInfo
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- CN106808461A CN106808461A CN201710156980.8A CN201710156980A CN106808461A CN 106808461 A CN106808461 A CN 106808461A CN 201710156980 A CN201710156980 A CN 201710156980A CN 106808461 A CN106808461 A CN 106808461A
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- connecting rod
- thumb
- finger
- fingerstall
- hinged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Remote-operated method is realized the invention discloses a kind of magnetorheological force feedback type data glove and using it, gloves include mechanical part and control system part, mechanical part includes support, be arranged in front of support four four MR dampers for referring to connection rod sets and thumb connection rod set, being arranged on cradle top, the joint of four finger connection rod sets and thumb connection rod set is respectively mounted angular transducer, angular transducer, MR damper are connected with control system part respectively, power feel is made up of angular transducer, MR damper and carrys out source mechanism.Remote-operated method is realized the invention also discloses using the gloves, had the advantages that the comfort of operation is high, realized that telepresenc is good, during operator can be made more really to be dissolved into operation.
Description
Technical field
The present invention relates to data glove field, specifically a kind of magnetorheological force feedback type data glove and its realization of application are remote
The method of journey operation.
Background technology
, it is necessary to use in the complexity such as Aero-Space, deep ocean work, nuclear industry, uncertain or non-accessible environment
Robot carries out operation.Due to the restriction of robot level, most of tasks cannot be completed independently, generally required operator and entered
Row monitoring.By means of vision, touch feedback, operator can realize the accurate control to tele-robotic using remote operating equipment
System.
Used as a kind of equipment of man-machine interaction, major function is to aid in operator and comes real by means of visual feedback data glove
Now to the precise control of tele-robotic.The effect of the various dangerous works of robot so can be both played, can have been played again
The intelligence of operator is acted on key decision.
Traditional data glove typically can be measured more accurately between the corner of each finger-joint and finger
Angle, and then long-range robot is accurately controlled according to the data of measurement.However, operator cannot be by data hand
Cover to perceive the dynamics of crawl object, lacked a kind of telepresenc, so as to increased the difficulty of control remote mechanical hand, for certain
A little fine tasks cannot even be completed.Therefore, a kind of remote operating equipment that can realize telepresenc is developed, for slave
The control of device people has great application value.
The Chinese patent application of Publication No. CN 100372503C discloses a kind of force feedback based on Pneumatic artificial muscle
Data glove.The Chinese patent application of Publication No. CN 2772746 discloses a kind of endoskeleton formula based on MR damper
Force feedback data gloves, these devices can realize certain telepresenc in the control of principal and subordinate robot, but still suffer from
Problem：（1）The former is that a kind of active power feels playback system, although these power can provide enough power and feel feedback, its
Once breaking down, easily damaged to operator；Secondly stability is poor, force feedback performance is had a greatly reduced quality；（2）The latter adopts
With MR damper, inside palm, this force feedback data gloves are limited driver because driver is inside palm
The proper motion of staff, so that having influence on the realization of telepresenc.It is therefore desirable to invent a kind of force feedback data gloves, make
It can either realize that safely and effectively power feels reproduction, can not interfere with telepresenc in the case where its function is not destroyed again
Realize.
The content of the invention is directed to the defect and Improvement requirement of above-mentioned prior art, it is an object of the invention to provide a kind of magnetic current
Become and force feedback type data glove and realize remote-operated method using it, with meet to the remote operating control of principal and subordinate robot with
And preferably realize telepresenc.
In order to achieve the above object, the technical solution adopted in the present invention is：
Magnetorheological force feedback type data glove, it is characterised in that：Including mechanical part and control system part, mechanical part includes
Support, frame bottom front be provided with correspond in human hands forefinger, middle finger, the third finger, little finger of toe four finger connection rod sets, and
Corresponding to the thumb connection rod set of human hands thumb, the structure of four four finger connection rod sets is identical, cradle top rear side correspondence four
Four finger connection rod sets and a thumb connection rod set rear end are respectively arranged with MR damper, the piston rod bar of MR damper
End is respectively directed to front, wherein：
Each four finger connection rod set includes being successively set on from back to front respectively the four nearly finger tip fingerstall of finger, the four finger middle fingers in front of support
End fingerstall, four refer to remote finger tip fingerstall, and finger tip fingerstall and four refers in the four nearly finger tip fingerstall of finger and four fingers between finger tip fingerstall, in four fingers
It is articulated and connected between remote finger tip fingerstall, four refer to that remote finger tip fingerstall top is hinged with the four finger connecting rod VII for tilting upward, and four refer to middle finger
End fingerstall top is hinged with the four finger connecting rod VI for tilting upward, and four finger connecting rod VI, four refer to that connecting rod VII upper ends are hinged and are hinged
Place constitutes four and refers to distal joint point, and finger tip fingerstall, four refer to that connecting rod VI, four refer to connecting rod VII structures in referring to remote finger tip fingerstall, four fingers by four
Into a four-bar linkage；Four refer to that nearly finger tip fingerstall top is hinged with the four finger connecting rod IV for tilting upward, and four refer on connecting rod IV
Hold and four finger connecting rod V are hinged with and 4 finger distal joint points between, and in four finger connecting rod V and the finger of four finger connecting rod IV hinged places composition four
Between artis, refer to nearly finger tip fingerstall, four finger connecting rod IV with four by four-bar linkage, four finger connecting rod V are in parallel constitutes many bars of plane
Mechanism；Four finger connecting rod III are hinged with 4 finger middle joint points in Planar Linkages backward, four refer to connecting rod III rear ends hinge
Four finger connecting rod II diagonally downward are connected to, and four refer to that connecting rod III and four refers to that connecting rod II hinged places constitute four and refer to proximal joint point, four
Refer to that connecting rod II lower ends are hinged on frame bottom front side, constitute Planar Linkages and four and refer to that connecting rod II, four refer to connecting rod III, support
Parallel relationship；Inclined rearwardly and upwardly at 4 finger proximal joint points and be connected with four finger connecting rod I, four refer to connecting rod I rear ends and position pair
In the MR damper answered sliding block is hinged between piston rod rod end；
The thumb connection rod set includes that the nearly finger tip fingerstall of the secondary thumb being arranged in front of support, the remote finger tip of thumb refer to from back to front
Set, is articulated and connected between the nearly finger tip fingerstall of thumb, the remote finger tip fingerstall of thumb, and the remote finger tip fingerstall upper articulation of thumb is tilted upward
Thumb connecting rod I, the nearly finger tip fingerstall upper articulation of thumb has the thumb connecting rod III for tilting upward, thumb connecting rod I upper ends and thumb
Connecting rod III upper ends are hinged and hinged place constitutes thumb joint point, by the nearly finger tip fingerstall of thumb, the remote finger tip fingerstall of thumb, thumb
Refer to that connecting rod III, thumb connecting rod I constitute a four-bar linkage；The nearly finger tip fingerstall of thumb refers in connection rod set towards nearest four
Thumb connecting rod II, thumb connecting rod II has been hinged to extend to the nearly finger tip fingerstall inner side of thumb；Frame bottom front side correspondence
Thumb connection rod set position is provided with three axle spherical hinges, and three axle spherical hinges one are hinged in mouth ball pivot backward and are connected to thumb connecting rod VI, three
Another is hinged in mouth and tilts upward ball pivot and be connected to thumb connecting rod VIII axle spherical hinge, three axle spherical hinges the 3rd be hinged in mouth to
Thumb connection rod set inner side direction ball pivot is connected to thumb connecting rod IV, is cut with scissors between its middle finger connecting rod IV rod end and thumb connecting rod II rod ends
Thumb connecting rod VIIII is connected to, and thumb connecting rod VIIII constitutes thumb entoparartis with thumb connecting rod II hinged places, thumb connects
Thumb connecting rod VII is hinged between bar VIII rod ends and thumb joint point, thumb connecting rod VI rear ends are hinged with thumb connecting rod backward
V, sliding block is hinged with the MR damper corresponding with position of thumb connecting rod V rear ends between piston rod rod end；
Refer at connection rod set each artis positioned at four four, be respectively equipped with angular transducer at thumb connection rod set each artis,
The angular transducer, MR damper are connected with control system part respectively, by angular transducer, MR damper structure
Cheng Lijue carrys out source mechanism.
Described magnetorheological force feedback type data glove, it is characterised in that：The control system part includes data acquisition
Card, computer, two groups of current controllers, D/A converter, A/D converter, from robot, the computer and data collecting card
Both-way communication is connected, and the angular transducer output end at each artis is respectively by A/D converter and the letter of data collecting card
Number input connection, the signal output part of data collecting card is connected by D/A converter with the input of current controller, electric current
The connection corresponding with the signal input part from robot finger of the output end of controller；The output signal of all angles sensor enters
First group of A/D converter carries out the analog-to-digital conversion of signal, is then respectively fed to data collecting card；
It is connected with the signal input part of data collecting card by A/D converter from the signal output part of the finger of robot, data
The signal output part of capture card is connected by D/A converter with current controller, and current controller output end is magnetorheological with each
Damper input is connected；The conversion of signal is carried out to A/D converter from the signal input of the finger of robot, then data
Data collecting card is collected, the conversion of signal is carried out by D/A converter after data collecting card, current control is then passed to
Device, feedback control is carried out by current controller according to the signal for receiving to MR damper.
The magnetorheological force feedback type data glove of one kind application realizes remote-operated method, it is characterised in that：It is by power
Feedback operation method, comprises the following steps：
（1）System initialization is carried out, the initial value of adjustment angle sensor, MR damper is in power failure state；
（2）Instruction is sent by computer and opens sensing and control system, operator sees the interaction from machine human and environment, carries out
Grasp；During grasping, the angular signal in each joint of finger of angular transducer collection linkage measurement；
（3）The angular signal for being gathered is input to data collecting card after A/D converter, during trying to achieve grasping by computer
The angle rotated from required for robot；
（4）Computer, to data collecting card output control signal, drives according to the angle of required rotation after D/A converter
Slave robot carries out grasping operation；
（5）During article is grasped from robot, the force signal suffered by robot is collected, it is defeated after A/D converter
Enter to data collecting card；
（6）Computer calculates the feedback force of required generation and then calculates required control according to the situation from robot stress
Current value, then to data collecting card output control signal, control MR damper produces certain damping force, and then makes behaviour
Author experiences power feel；
（7）When the suffered feedback force of people's sensation is not enough to hold steadily article, repeat（2）~（6）Process, until operator
Feel that power is enough to pick up article.
The present invention provides a kind of for realizing the magnetorheological force feedback type data glove of the exoskeleton-type of remote operating and method, fits
For remote operating field telepresenc in terms of research application.Have the advantages that：
（1）MR damper is a kind of energy-dissipating intelligent device, and possessing has safety, stabilization, the advantages of small volume.Pass through
Passive force feedback, by MR damper for the hand of operator provides certain feedback force, in combination with angular transducer inspection
The scope of activities of finger-joint is surveyed, is conducive to improving the comfort for operating, preferably realize telepresenc.
（2）When operator is grasped, the structural member of endoskeleton formula force feedback data gloves can make the realization of telepresenc
Have a greatly reduced quality, and exoskeleton-type force feedback data gloves of the invention then avoid the generation of this destruction, make operator more
Really experience on the spot in person.
（3）The data detected by control elements such as angular transducers, and feed back to computer, to obtain from machine
The current grasping state of people, operator feels that feedback judges that can the grasping that stablize get up to carry out next step according to the power experienced
Operation, during making operator more really be dissolved into operation.
Brief description of the drawings
Fig. 1 is magnetorheological force feedback type data glove structure chart of the invention.
Fig. 2 is that the present invention magnetorheological force feedback type data glove of application realizes remote operation method block diagram.
Fig. 3 is that the present invention four refers to connection rod set structure chart.
Fig. 4 is thumb connection rod set structure chart of the present invention.
Fig. 5 is spherical hinge structure chart of the present invention.
Fig. 6 is finger joint connection figure of the present invention.
Fig. 7 is the schematic diagram of mechanism that the present invention four refers to connection rod set.
Fig. 8 is the schematic diagram of mechanism of thumb connection rod set of the present invention.
Fig. 9 is that the present invention magnetorheological force feedback type data glove of application realizes remote operation flow chart.
Specific embodiment
As shown in Fig. 1, Fig. 3-Fig. 8, magnetorheological force feedback type data glove, including mechanical part and control system part,
Mechanical part includes support 5, and support 5 bottom front is provided with and corresponds in human hands forefinger, middle finger, the third finger, little finger of toe
Four refer to connection rod set 1, and corresponding to the thumb connection rod set 3 of human hands thumb, the structure of four four finger connection rod sets 1 is identical, branch
The top rear of frame 5 correspondence four four refers to that connection rod set 1 and a rear end of thumb connection rod set 3 are respectively arranged with MR damper
6, the piston rod rod end of MR damper 6 is respectively directed to front, wherein：
As shown in Fig. 2, Fig. 7, four fingers that each four finger connection rod set 1 includes being successively set on from back to front respectively in front of support closely refer to
Finger tip fingerstall 1.2, four refers to remote finger tip fingerstall 1.12 during end fingerstall 1.3, four refers to, four refer to finger tip in the nearly finger of finger tip fingerstall 1.3 and four
Finger tip fingerstall 1.2 and four is articulated and connected between referring to remote finger tip fingerstall 1.12 between fingerstall 1.2, in four fingers, and four refer to remote finger tip fingerstall
1.12 tops are hinged with the four finger connecting rod VII1.11 for tilting upward, and the top of finger tip fingerstall 1.2 is hinged with what is tilted upward in four fingers
Four refer to that connecting rod VI1.10, four finger connecting rod VI1.10, four finger connecting rod VII1.11 upper ends are hinged and hinged place constitutes four and refers to distal end
Artis, finger tip fingerstall 1.2, four refers to that connecting rod VI1.10, four refer to connecting rod VII1.11 in referring to the remote finger of finger tip fingerstall 1.12, four by four
Constitute a four-bar linkage；Four refer to that the top of nearly finger tip fingerstall 1.3 is hinged with the four finger connecting rod IV1.8 for tilting upward, and four refer to
Four finger connecting rod V1.9 are hinged between connecting rod IV1.8 upper ends and 4 finger distal joint points, and four refer to that connecting rod V1.9 and four refers to connecting rod
IV1.8 hinged places constitute four and refer to middle joint point, refer to that nearly finger tip fingerstall 1.3, four refers to connecting rod by four-bar linkage and four
IV1.8, four refer to that connecting rod V1.9 is in parallel and constitute Planar Linkages；Cut with scissors backward at 4 finger middle joint points in Planar Linkages
Four finger connecting rod III1.7 are connected to, four finger connecting rod III1.7 rear ends are hinged with four finger connecting rod II1.6 diagonally downward, and four refer to connecting rod
III1.7 and four refers to that connecting rod II1.6 hinged places constitute four and refer to proximal joint point, and the lower ends of four finger connecting rod II1. 6 are hinged on the bottom of support 5
Portion front side, constitutes Planar Linkages and four and refers to that connecting rod II1. 6, four refers to connecting rod III1.7, the parallel relationship of support 5；Four refer to closely
Inclined rearwardly and upwardly at the artis of end and be connected with four finger connecting rod I1.5, four refer to connecting rod I1.5 rear ends magnetic current variable resistance corresponding with position
Sliding block 1.4 is hinged with Buddhist nun's device between piston rod rod end；
As shown in Fig. 4, Fig. 5, Fig. 8, thumb connection rod set 3 includes that the secondary nearly finger tip of thumb for being arranged on the front of support 5 refers to from back to front
Set 3.3, the remote finger tip fingerstall 3.1 of thumb, is articulated and connected between the remote finger tip fingerstall 3.1 of the nearly finger tip fingerstall 3.3, thumb of thumb, thumb
The remote upper articulation of finger tip fingerstall 3.1 has the thumb connecting rod I3.2 for tilting upward, and the nearly upper articulation of finger tip fingerstall 3.3 of thumb has inclination
Upward thumb connecting rod III3.5, thumb connecting rod I3.2 upper ends are hinged with thumb connecting rod III3.5 upper ends and hinged place is constituted
Thumb joint point, by the remote finger tip fingerstall 3.1 of the nearly finger tip fingerstall 3.3, thumb of thumb, thumb connecting rod II3.5, thumb connecting rod I3.2 structures
Into a four-bar linkage；The nearly finger tip fingerstall 3.3 of thumb is hinged with thumb connecting rod towards the medial surface of nearest four finger connection rod sets
II3.4, thumb connecting rod II3.4 extend to the nearly inner side of finger tip fingerstall 3.3 of thumb；The lower front of support 5 correspondence thumb connection rod set 3
Three axle spherical hinges 4 are installed, three axle spherical hinges 4 one are hinged in mouth ball pivot backward and are connected to thumb connecting rod VI3.9, three axle spherical hinges
4 another be hinged in mouth and tilt upward ball pivot and be connected to thumb connecting rod VIII3.11, three axle spherical hinges 4 the 3rd are hinged in mouth to thumb
Refer to that the inner side direction ball pivot of connection rod set 3 is connected to thumb connecting rod IV3.6, its middle finger connecting rod IV3.6 rod end and thumb connecting rod II3.4 bars
Thumb connecting rod VIIII3.13 is hinged between end, and thumb connecting rod VIIII3.13 constitutes thumb with thumb connecting rod II3.4 hinged places
Refer to entoparartis, thumb connecting rod VII3.10 is hinged between thumb connecting rod VIII3.11 rod ends and thumb joint point, thumb connects
Bar VI3.9 rear ends are hinged with thumb connecting rod V3.8 backward, in the MR damper corresponding with position of thumb connecting rod V3.8 rear ends
Sliding block 3.7 is hinged between piston rod rod end；
Refer at connection rod set 1 each artis positioned at four four, be respectively equipped with angular transducer at thumb connection rod set 3 each artis
2, angular transducer 2, MR damper 6 are connected with control system part respectively, by angular transducer 2, MR damper
6 constitute power feel carrys out source mechanism.
As shown in Fig. 2 control system part include data collecting card, computer, two groups of current controllers, D/A converter,
A/D converter, from robot, computer is connected with data collecting card both-way communication, and the angular transducer at each artis is defeated
Go out end to be connected with the signal input part of data collecting card by A/D converter respectively, the signal output part of data collecting card passes through
D/A converter is connected with the input of current controller, the output end of current controller and signal input from robot finger
End correspondence connection；The output signal of all angles sensor carries out the analog-to-digital conversion of signal into first group of A/D converter, then
It is respectively fed to data collecting card；
It is connected with the signal input part of data collecting card by A/D converter from the signal output part of the finger of robot, data
The signal output part of capture card is connected by D/A converter with current controller, and current controller output end is magnetorheological with each
Damper input is connected；The conversion of signal is carried out to A/D converter from the signal input of the finger of robot, then data
Data collecting card is collected, the conversion of signal is carried out by D/A converter after data collecting card, current control is then passed to
Device, feedback control is carried out by current controller according to the signal for receiving to MR damper.
The present invention is by thumb connection rod set 3 and four finger connection rod sets 1, support 5, three axles of forefinger, middle finger, the third finger and little finger of toe
It is magnetorheological that spherical hinge 4, the angular transducer 2 installed in each joint and each connection rod set sliding block output par, c are connected
Damper 6 is constituted.
As shown in Figure 3 and Figure 7, four finger connection rod sets 1 are to refer to that connecting rod I1.5, four refer to that connecting rod II1.6, four refer to connecting rod by four
III1.7, four refer to that connecting rod IV1.8, four refer to that connecting rod V1.9, four refer to that VI1.10, four refer to connecting rod VII1.11, sliding block 1.4, four to refer to far and refer to
Finger tip fingerstall 1.2, four refers to nearly finger tip fingerstall 1.3, adjustable bandage 1.13 and MR damper during end fingerstall 1.12, four refers to
7 are connected through the hinge and constituted by the schematic diagram of mechanism shown in Fig. 7, and there is three degree of freedom in this mechanism, by the three of operator
The motion in individual joint drives the motion of three fingerstall to obtain a motion for the sliding block 1.4 of determination；The chain connection passes through
Nickel plating screw Primary-secondary rivet 1.1 is attached.
As shown in Figure 4 and Figure 8, thumb connection rod set 3 be by the nearly finger tip fingerstall 3.3 of the remote finger tip fingerstall 3.1, thumb of thumb,
Thumb connecting rod I3.2, thumb connecting rod II3.4, thumb connecting rod III3.5, thumb connecting rod IV3.6, thumb connecting rod V3.8, thumb connecting rod
VI3.9, thumb connecting rod VII3.10, thumb connecting rod VIII3.11, sliding block 3.7, adjustable bandage 3.12 and MR damper
7 are connected through the hinge and constituted by the schematic diagram of mechanism shown in Fig. 8, and there is three degree of freedom in this mechanism, by the big thumb of operator
The motion for referring to the rotation in two joints and the transverse movement of thumb to drive fingerstall obtains a motion for the sliding block for determining.
All of chain connection of the same race is realized by nickel plating screw Primary-secondary rivet 1.1 respectively.
As shown in Fig. 2 sensing includes KMZ41 types angular transducer 2, A/D converter, D/A converter, electricity with control system
Stream controller, data collecting card and computer.KMZ41 types angular transducer 2 is arranged between the hinge in each joint, for reality
When each joint of collection angle information, A/D converter and D/A converter be used for carrying out necessary analog quantity and digital quantity it
Between conversion.Data collecting card is used for collecting the angle information for collecting and the angle and power feel information fed back from robot.
Computer is used for the data of processing data capture card collection preferably to carry out man-machine interaction.Of both current controller has
Effect, is on the one hand the resistance for changing the size in magnetic field to control produced by MR damper by changing the size of electric current
The size of Buddhist nun's power；Further aspect is that control the information such as feels from the angle of bend and power of the finger of robot.
If Fig. 5 is three axle spherical hinges 4 employed in thumb connection rod set mechanism of the present invention, it is excellent by space spherical hinge
Putting and the power of both direction in space is connected on a direction, and then be connected to MR damper 6 carries out power feel feedback.
The connected mode of finger joint of the invention and finger joint is illustrated in figure 6, is referred to the end of previous finger joint and latter
A pan is stretched out in the front end of section respectively, is then hinged two finger joints by nickel plating screw Primary-secondary rivet 1.1, realizes
The rotation of the lucky simulated operator finger-joint of relative motion of two finger joints.
As shown in figure 9, a kind of method for applying magnetorheological force feedback type data glove to realize remote operating, specific implementation step
It is as follows：
（1）System initialization is carried out, the initial value of adjustment angle sensor, MR damper is in power failure state；
（2）Instruction is sent by computer and opens sensing and control system, operator sees the interaction from machine human and environment, carries out
Grasp.During grasping, the angular signal in each joint of finger of each angular transducer collection connection rod set measurement；
（3）The angular signal for being gathered is input to data collecting card after A/D converter, during trying to achieve grasping by computer
The angle rotated from required for robot；
（4）Computer, to data collecting card output control signal, drives according to the angle of required rotation after D/A converter
Slave robot carries out grasping operation；
（5）During article is grasped from robot, the force signal suffered by robot is collected, it is defeated after A/D converter
Enter to data collecting card；
（6）Computer calculates the feedback force of required generation and then calculates required control according to the situation from robot stress
Current value, then to data collecting card output control signal, control MR damper produces certain power to feel.
（7）When the suffered feedback force of people's sensation is not enough to hold steadily article, repeat（2）~（6）Process, until behaviour
Author feels that power is enough to pick up article.
Embodiments of the invention are the foregoing is only, the scope of the claims of the invention is not thereby limited, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (3)
1. magnetorheological force feedback type data glove, it is characterised in that：Including mechanical part and control system part, Machinery Ministry subpackage
Include support, frame bottom front be provided with correspond in human hands forefinger, middle finger, the third finger, little finger of toe four finger connection rod sets, with
And corresponding to the thumb connection rod set of human hands thumb, the structure of four four finger connection rod sets is identical, cradle top rear side correspondence four
Individual four finger connection rod set and a thumb connection rod set rear end are respectively arranged with MR damper, the piston rod of MR damper
Rod end is respectively directed to front, wherein：
Each four finger connection rod set includes being successively set on from back to front respectively the four nearly finger tip fingerstall of finger, the four finger middle fingers in front of support
End fingerstall, four refer to remote finger tip fingerstall, and finger tip fingerstall and four refers in the four nearly finger tip fingerstall of finger and four fingers between finger tip fingerstall, in four fingers
It is articulated and connected between remote finger tip fingerstall, four refer to that remote finger tip fingerstall top is hinged with the four finger connecting rod VII for tilting upward, and four refer to middle finger
End fingerstall top is hinged with the four finger connecting rod VI for tilting upward, and four finger connecting rod VI, four refer to that connecting rod VII upper ends are hinged and are hinged
Place constitutes four and refers to distal joint point, and finger tip fingerstall, four refer to that connecting rod VI, four refer to connecting rod VII structures in referring to remote finger tip fingerstall, four fingers by four
Into a four-bar linkage；Four refer to that nearly finger tip fingerstall top is hinged with the four finger connecting rod IV for tilting upward, and four refer on connecting rod IV
Hold and four finger connecting rod V are hinged with and 4 finger distal joint points between, and in four finger connecting rod V and the finger of four finger connecting rod IV hinged places composition four
Between artis, refer to nearly finger tip fingerstall, four finger connecting rod IV with four by four-bar linkage, four finger connecting rod V are in parallel constitutes many bars of plane
Mechanism；Four finger connecting rod III are hinged with 4 finger middle joint points in Planar Linkages backward, four refer to connecting rod III rear ends hinge
Four finger connecting rod II diagonally downward are connected to, and four refer to that connecting rod III and four refers to that connecting rod II hinged places constitute four and refer to proximal joint point, four
Refer to that connecting rod II lower ends are hinged on frame bottom front side, constitute Planar Linkages and four and refer to that connecting rod II, four refer to connecting rod III, support
Parallel relationship；Inclined rearwardly and upwardly at 4 finger proximal joint points and be connected with four finger connecting rod I, four refer to connecting rod I rear ends and position pair
In the MR damper answered sliding block is hinged between piston rod rod end；
The thumb connection rod set includes that the nearly finger tip fingerstall of the secondary thumb being arranged in front of support, the remote finger tip of thumb refer to from back to front
Set, is articulated and connected between the nearly finger tip fingerstall of thumb, the remote finger tip fingerstall of thumb, and the remote finger tip fingerstall upper articulation of thumb is tilted upward
Thumb connecting rod I, the nearly finger tip fingerstall upper articulation of thumb has the thumb connecting rod III for tilting upward, thumb connecting rod I upper ends and thumb
Connecting rod III upper ends are hinged and hinged place constitutes thumb joint point, by the nearly finger tip fingerstall of thumb, the remote finger tip fingerstall of thumb, thumb
Refer to that connecting rod III, thumb connecting rod I constitute a four-bar linkage；The nearly finger tip fingerstall of thumb refers in connection rod set towards nearest four
Thumb connecting rod II, thumb connecting rod II has been hinged to extend to the nearly finger tip fingerstall inner side of thumb；Frame bottom front side correspondence
Thumb connection rod set position is provided with three axle spherical hinges, and three axle spherical hinges one are hinged in mouth ball pivot backward and are connected to thumb connecting rod VI, three
Another is hinged in mouth and tilts upward ball pivot and be connected to thumb connecting rod VIII axle spherical hinge, three axle spherical hinges the 3rd be hinged in mouth to
Thumb connection rod set inner side direction ball pivot is connected to thumb connecting rod IV, is cut with scissors between its middle finger connecting rod IV rod end and thumb connecting rod II rod ends
Thumb connecting rod VIIII is connected to, and thumb connecting rod VIIII constitutes thumb entoparartis with thumb connecting rod II hinged places, thumb connects
Thumb connecting rod VII is hinged between bar VIII rod ends and thumb joint point, thumb connecting rod VI rear ends are hinged with thumb connecting rod backward
V, sliding block is hinged with the MR damper corresponding with position of thumb connecting rod V rear ends between piston rod rod end；
Refer at connection rod set each artis positioned at four four, be respectively equipped with angular transducer at thumb connection rod set each artis,
The angular transducer, MR damper are connected with control system part respectively, by angular transducer, MR damper structure
Cheng Lijue carrys out source mechanism.
2. magnetorheological force feedback type data glove according to claim 1, it is characterised in that：The control system part bag
Include data collecting card, computer, two groups of current controllers, D/A converter, A/D converter, from robot, the computer with
Data collecting card both-way communication is connected, and the angular transducer output end at each artis passes through A/D converter and data respectively
The signal input part connection of capture card, the signal output part of data collecting card passes through the input of D/A converter and current controller
End connection, the connection corresponding with the signal input part from robot finger of the output end of current controller；All angles sensor
Output signal carries out the analog-to-digital conversion of signal into first group of A/D converter, is then respectively fed to data collecting card；
It is connected with the signal input part of data collecting card by A/D converter from the signal output part of the finger of robot, data
The signal output part of capture card is connected by D/A converter with current controller, and current controller output end is magnetorheological with each
Damper input is connected；The conversion of signal is carried out to A/D converter from the signal input of the finger of robot, then data
Data collecting card is collected, the conversion of signal is carried out by D/A converter after data collecting card, current control is then passed to
Device, feedback control is carried out by current controller according to the signal for receiving to MR damper.
3. a kind of magnetorheological force feedback type data glove of application realizes remote-operated method, it is characterised in that：It is anti-by power
Feedback operating method, comprises the following steps：
（1）System initialization is carried out, the initial value of adjustment angle sensor, MR damper is in power failure state；
（2）Instruction is sent by computer and opens sensing and control system, operator sees the interaction from machine human and environment, carries out
Grasp；During grasping, the angular signal in each joint of finger of angular transducer collection linkage measurement；
（3）The angular signal for being gathered is input to data collecting card after A/D converter, during trying to achieve grasping by computer
The angle rotated from required for robot；
（4）Computer, to data collecting card output control signal, drives according to the angle of required rotation after D/A converter
Slave robot carries out grasping operation；
（5）During article is grasped from robot, the force signal suffered by robot is collected, it is defeated after A/D converter
Enter to data collecting card；
（6）Computer calculates the feedback force of required generation and then calculates required control according to the situation from robot stress
Current value, then to data collecting card output control signal, control MR damper produces certain damping force, and then makes behaviour
Author experiences power feel；
（7）When the suffered feedback force of people's sensation is not enough to hold steadily article, repeat（2）~（6）Process, until operator
Feel that power is enough to pick up article.
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