CN107239095B - A kind of power feels the three-dimensional revolving gear of feedback and rotation attitude measurement - Google Patents
A kind of power feels the three-dimensional revolving gear of feedback and rotation attitude measurement Download PDFInfo
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- CN107239095B CN107239095B CN201710398508.5A CN201710398508A CN107239095B CN 107239095 B CN107239095 B CN 107239095B CN 201710398508 A CN201710398508 A CN 201710398508A CN 107239095 B CN107239095 B CN 107239095B
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- shaft
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- attitude measurement
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- revolving gear
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention discloses the three-dimensional revolving gears that a kind of power feels feedback and rotation attitude measurement.The power of the present invention feels the three-dimensional revolving gear of feedback and rotation attitude measurement, it is characterized in that, including being located at the upward shaft A of X, Y, Z three-dimensional shaft, rotating shaft C and shaft B, it is connected by connecting component two between the shaft A and the shaft B, it is connected by connecting component one between the shaft B and the rotating shaft C, the shaft A, shaft B, installation is equipped with Inertial Measurement Unit there are one MR damper on each MR damper respectively in axial direction in rotating shaft C.Present invention combination mechanical structure, Li Jue mechanisms, measuring mechanism realize power sense output, and realize control purpose by rotating attitude measurement.
Description
Technical field：
The present invention relates to the three-dimensional revolving gears that a kind of power feels feedback and rotation attitude measurement, belong to technical field.
Background technology：
Current same device has the shortcomings that rotational freedom couples, rotational angle measurement accuracy is low etc. more, is not suitable for essence
The application scenarios really controlled.In addition, common three-dimensional revolving gear is mostly pure mechanic structure, three, space coordinate direction can only be carried out
Rotational motion, without power feel impression output, can not apply effectively feel information output usage scenario；In addition, common three-dimensional
Rotating mechanism lacks the attitude measurement technology of rotation, can not accurately measure the rotational angle in three reference axis, cannot will turn
Dynamic posture is synchronized to control terminal.
Invention content
The object of the present invention is to provide the three-dimensional revolving gears that a kind of power feels feedback and rotation attitude measurement, are tied in conjunction with machinery
Structure, Li Jue mechanisms, measuring mechanism realize power sense output, and realize control purpose by rotating attitude measurement.
Above-mentioned purpose is achieved through the following technical solutions：
A kind of power feels the three-dimensional revolving gear of feedback and rotation attitude measurement, including to be located at X, Y, Z three-dimensional shaft upward
Shaft A, rotating shaft C and shaft B, connected by connecting component two between the shaft A and the shaft B, the shaft B and
It is connected by connecting component one between the rotating shaft C, the shaft A, shaft B, there are one magnetic for installation respectively in axial direction in rotating shaft C
Rheological damper is each equipped with Inertial Measurement Unit on the MR damper.
The power feels that the three-dimensional revolving gear of feedback and rotation attitude measurement, the shaft A are pacified by support member
In fixed plate.
The power feels that the three-dimensional revolving gear of feedback and rotation attitude measurement, the rotating shaft C are connected by shaft coupling
Handle.
The power feels the three-dimensional revolving gear of feedback and rotation attitude measurement, is located in the connecting component two described
The side of shaft A is provided with one section of extended segment, and counterweight is connected on the extended segment.
The power feels the three-dimensional revolving gear of feedback and rotation attitude measurement, and direct current generator is connected on the handle
And trigger.
Advantageous effect：
The spatial triaxial connected using two connecting components, realizes the mechanically decoupled of rotational motion, in each axial direction
Rotation is non-interference independently of each other, and facility is provided for rotation attitude measurement.
Using MR damper as force feedback actuator, the output of power tactile, and power are realized by output torque
The size and Orientation suspension control signal of square controls, can be with expanded application in the various scenes for feeling output with power.
Using handle arrangement, hand is facilitated to hold；It is designed using trigger-type at handle, meets human efficiency subject, and increase
The force feedback of finger motion.
Using Inertial Measurement Unit, it is placed in each shaft top, can accurately measure the rotational angle of each axial direction, to
The rotation posture of entire three-dimensional revolving gear is precisely described.
Gravitational moment of the entire rotating mechanism in rotating shaft C is balanced using counterweight, mitigates human hand and operates this three-dimensional structure
Power load makes the entire rotating mechanism of driving become more easily laborsaving.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
In figure：1, shaft A；2, rotating shaft C；3, shaft B；4, connecting component two；5, connecting component one；6, magnetorheological damping
Device；7, Inertial Measurement Unit；8, support member；9, fixed plate；10, shaft coupling；11, handle；12, counterweight.
Specific implementation mode
With reference to embodiment, the present invention is furture elucidated, it should be understood that following specific implementation modes are only used for
It is bright the present invention rather than limit the scope of the invention.
The power of the present embodiment feels the three-dimensional revolving gear of feedback and rotation attitude measurement, including is located at X, Y, Z three-dimensional
Shaft A 1, rotating shaft C 2 in axial direction and shaft B 3 is connected between the shaft A and the shaft B by connecting component 24,
Connected by connecting component 1 between the shaft B and the rotating shaft C, the shaft A, shaft B, in rotating shaft C respectively along axis
To installation, there are one MR dampers 6, are each equipped with Inertial Measurement Unit 7 on the MR damper.It is not coaxial
Upward MR damper generates the damping torque of different directions, so that end can get the power sense of different directions；It is used
Property measuring unit device measure three rotor shaft directions on rotational angle, describe three axis rotary state.
Power described in the present embodiment feels that the three-dimensional revolving gear of feedback and rotation attitude measurement, the shaft A pass through
Support member 8 is mounted in fixed plate 9.
Power described in the present embodiment feels that the three-dimensional revolving gear of feedback and rotation attitude measurement, the rotating shaft C pass through
Shaft coupling 10 connects handle 11.
Power described in the present embodiment feels the three-dimensional revolving gear of feedback and rotation attitude measurement, the connecting component two
The upper side positioned at the shaft A is provided with one section of extended segment, and counterweight 12 is connected on the extended segment, is balanced with being reused in
Entire gravitational moment of the rotating mechanism in rotating shaft C.
The power feels the three-dimensional revolving gear of feedback and rotation attitude measurement, is connected on the handle, direct current
Machine and trigger, motor output torque apply force feedback by trigger to finger.
The course of work：
When hand band fixed handle, C movements, realize the rotational motion degree of freedom on C axis around the shaft；In rotation process,
Inertia measurement original paper obtains the angle moved around C shaft rotations in real time, and angle information is passed to control terminal by coding；Work as control
When end sends out the control signal of output C shaft rotation kinetic moments, the MR damper work on C axis transmits torque by shaft
To hand.
When hand drives connecting component one, B is moved around the shaft, realizes the rotational motion degree of freedom in B axle；It was rotating
Cheng Zhong, inertia measurement original paper obtains the angle rotated around B axle in real time, and angle information is passed to control terminal by coding；When
When control terminal sends out the control signal of output B axle rotating torque, torque is passed through shaft by the MR damper work in B axle
Pass to hand.
Hand drives connecting component one and connecting component two, and A is moved around the shaft, and the rotational motion realized on A axis is free
Degree；In rotation process, inertia measurement original paper obtains the angle moved around A shaft rotations in real time, and angle information is transmitted by coding
To control terminal；When control terminal sends out the control signal of output A shaft rotation kinetic moments, the MR damper work on A axis, by power
Square passes to hand by shaft.
MR damper output torque at the top of three shafts obtains corresponding force sense, and control terminal sends out output, and some turns
When the control signal of shaft rotation kinetic moment, torque is passed to hand by the MR damper work in some shaft by shaft
Inertial Measurement Unit device at the top of three shafts measures the attitude angle of three shafts, returns data to processing system
System.
It should be pointed out that above-mentioned embodiment is only intended to clearly illustrate example, and not to embodiment
It limits, there is no necessity and possibility to exhaust all the enbodiments.Each component part being not known in the present embodiment
It is realized with the prior art.For those skilled in the art, in the premise for not departing from the principle of the invention
Under, several improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (5)
1. a kind of power feels the three-dimensional revolving gear of feedback and rotation attitude measurement, which is characterized in that including being located at X, Y, Z tri-
Shaft A, rotating shaft C and the shaft B in axial direction are tieed up, is connected by connecting component two between the shaft A and the shaft B, it is described
Shaft B and the rotating shaft C between connected by connecting component one, the shaft A, shaft B, pacify respectively in axial direction in rotating shaft C
There are one MR dampers for dress, are each equipped with Inertial Measurement Unit on the MR damper.
2. power according to claim 1 feels the three-dimensional revolving gear of feedback and rotation attitude measurement, which is characterized in that described
Shaft A by support member be mounted on fixed plate on.
3. power according to claim 1 feels the three-dimensional revolving gear of feedback and rotation attitude measurement, which is characterized in that described
Rotating shaft C handle is connected by shaft coupling.
4. power according to claim 1 feels the three-dimensional revolving gear of feedback and rotation attitude measurement, which is characterized in that described
Connecting component two on the side of the shaft A is provided with one section of extended segment, be connected with counterweight on the extended segment.
5. power according to claim 3 feels the three-dimensional revolving gear of feedback and rotation attitude measurement, which is characterized in that described
Handle on be connected with direct current generator and trigger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710398508.5A CN107239095B (en) | 2017-05-31 | 2017-05-31 | A kind of power feels the three-dimensional revolving gear of feedback and rotation attitude measurement |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710398508.5A CN107239095B (en) | 2017-05-31 | 2017-05-31 | A kind of power feels the three-dimensional revolving gear of feedback and rotation attitude measurement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107239095A CN107239095A (en) | 2017-10-10 |
| CN107239095B true CN107239095B (en) | 2018-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710398508.5A Active CN107239095B (en) | 2017-05-31 | 2017-05-31 | A kind of power feels the three-dimensional revolving gear of feedback and rotation attitude measurement |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267128B (en) * | 2020-04-03 | 2020-11-06 | 浙江浙安消防设备有限公司 | Remote fire-fighting robot controller |
| CN114464065B (en) * | 2022-03-10 | 2024-05-03 | 深圳市比邻星精密技术有限公司 | Otoscope virtual-real combined operation training system and working method thereof |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR0151349B1 (en) * | 1995-12-29 | 1998-10-15 | 배순훈 | Manipulator of simulator |
| CN1089160C (en) * | 1998-08-07 | 2002-08-14 | 清华大学 | Method for three dimension position measurement using miniature inertia measurement combination |
| US6792792B2 (en) * | 2001-06-04 | 2004-09-21 | Kelsey-Hayes Company | Diagnostic test for a resonant micro electro mechanical system |
| CN102207371B (en) * | 2011-03-16 | 2012-07-04 | 西南石油大学 | Three-dimensional point coordinate measuring method and measuring apparatus thereof |
| CN105116961B (en) * | 2015-07-21 | 2017-03-22 | 东南大学 | Intelligent force feedback handle and control method thereof |
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