CN108161883A - A kind of main hand of force feedback remote operating - Google Patents
A kind of main hand of force feedback remote operating Download PDFInfo
- Publication number
- CN108161883A CN108161883A CN201810017875.0A CN201810017875A CN108161883A CN 108161883 A CN108161883 A CN 108161883A CN 201810017875 A CN201810017875 A CN 201810017875A CN 108161883 A CN108161883 A CN 108161883A
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- China
- Prior art keywords
- connecting rod
- speed reducer
- potentiometer
- housing
- rod component
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 69
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 230000008450 motivation Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000002040 relaxant effect Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 210000000515 tooth Anatomy 0.000 description 1
Classifications
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of main hand of force feedback remote operating, including sequentially connected first connecting rod component, second connecting rod component, third connecting rod component, fourth link component, 5th linkage component and rotary knob member, it is connected between each linkage component by rotary joint, potentiometer or encoder are mounted on each rotary joint, wherein first connecting rod component, motor and speed reducer is installed on the rotary joint of junction between second connecting rod component and third connecting rod component, the input terminal of motor and speed reducer connection or both is connected by toothed belt transmission, output end of reducer is connected with corresponding potentiometer or encoder.The main hand of the operation can fix use, and the mobile operation of progress can be also carried by operator, can make full use of the flexibility of human hand to control the movement in each joint, operation is accurate；Together, compact structure can make full use of operating space and the flexibility of finger to the compact layout in the joint of end three.
Description
Technical field
The present invention relates to a kind of main hands of principal and subordinate's remote operating for mechanical arm, belong to industrial robot teleoperation neck
Domain.
Background technology
Principal and subordinate's remote operating is that personnel participate in the control most common method of operating of industrial robot.Principal and subordinate's teleoperation of robot system
System can carry out complicated manipulation operation under uncertain condition.Telepresenc technology created between man-robot-environment it is a kind of and
Humorous multidimensional information interactive environment, the main hand of force feedback remote operating make operator feel the process of manipulated operation with true power
Impression.
The main hand of remote operating for feeling feedback with power at present can only fix asking of using there are structure size and quality are larger
Topic, in operation, the visual angle of operator is fixed or even there are blind spots, must be operated by the image display system of various visual angles.
Chinese patent literature 103817682A discloses " a kind of main hand of articulated type force feedback remote operating ", which, which holds, closes
Section is located at least significant end, and three joints axes before are parallel to each other, if wanting to control some joint motions, easily drive other joints
It links together, in addition the flexible finger of operator is served only for operation button and switch, and fails to manipulate articulation.
Invention content
The present invention is directed to deficiency existing for existing teleoperation, for the joint series mechanical arm with force feedback,
A kind of main hand of the force feedback remote operating with position servo and force teleprence is provided.
The main hand of force feedback remote operating of the present invention, using following technical scheme：
The main hand of the remote operating, including sequentially connected first connecting rod component, second connecting rod component, third connecting rod component,
Double leval jib component, the 5th linkage component and rotary knob member are connected between each linkage component by rotary joint, in each rotation
Turn to be mounted on potentiometer or encoder on joint, wherein first connecting rod component, second connecting rod component and third connecting rod component it
Between junction rotary joint on motor and speed reducer is installed, the input terminal of motor and speed reducer connects in first connecting rod component
It connects, the motor in second connecting rod component and third connecting rod component is connect with speed reducer by toothed belt transmission, output end of reducer
With corresponding potentiometer or encoder connection (for measuring the angular displacement of output terminal).
The first connecting rod component, including pedestal and first shell, first shell is connected on pedestal, is set in first shell
The first motor, the first speed reducer, the first potentiometer and first support are equipped with, the first motor is connect with the first speed reducer, first shell
First support is fixed in vivo, the first speed reducer is fixed in first support, and the first potentiometer is mounted in first support and leads to
Transmission mechanism is crossed to connect with the first speed reducer.
The second connecting rod component including second shell, is provided with the second motor, the second speed reducer and in second shell
Two potentiometers；Second shell is connected to the output terminal of the first speed reducer, and the second motor and the second speed reducer pass through toothed belt transmission
Connection, the second speed reducer and the second potentiometer are installed in second shell, and the second potentiometer is subtracted by transmission mechanism and second
Fast machine connection.The output axis of second speed reducer is vertical with the output axis of first speed reducer.
The third connecting rod component including the first connecting plate and third housing, is provided with third motor, in third housing
Three speed reducers and third potentiometer, the first connecting plate are connected to the second output end of reducer in second connecting rod component, third shell
Body is connected on the first connecting plate, and third motor is connect by toothed belt transmission with third speed reducer, third speed reducer and third
Potentiometer is installed in housing, and third potentiometer is connect by transmission mechanism with third speed reducer.
Above-mentioned transmission mechanism is gear drive, and driving gear is mounted on the output terminal of speed reducer, driven gear installation
It is engaged on potentiometer or encoder and with driving gear.
The fourth link component, including the second connecting plate, the 4th potentiometer and the 4th housing, the second connecting plate is connected to
Third output end of reducer in third connecting rod component is connected with bearing block on the second connecting plate, and housing is mounted on by bearing
On bearing block, the 4th potentiometric output shaft links together with housing.Stop screw is provided on the bearing block, for giving
The rotational angle limiting of housing.The pivot center and the pivot center of the third output end of reducer of 4th housing hang down
Directly, it can preferably avoid linking in this way.
5th linkage component, including second support and the 5th potentiometer, second support is connected to fourth link component
In housing on, shaft is installed, the 5th potentiometric output shaft is connect with shaft in second support.
The rotary knob member, including the 5th housing and the 6th potentiometer, the 5th housing is installed on the 5th connecting rod by bearing
In shaft in component, the 6th potentiometer is connected in the shaft in the 5th linkage component, is pacified on the 6th potentiometric output shaft
Equipped with knob, and sliding bearing and damped ring are installed between knob and the 5th housing, knob upper end is equipped with button switch.It presses
Button switch is used to control from end mechanical arm tail end Appendage Task tool.
The operation principle of the present invention is as follows：
It if, can will be from the potentiometer or encoder of end each joint of mechanical arm from end mechanical arm and the main hand isomorphism of the present invention
With the potentiometer composition control closed loop of each joint installation of the main hand of the present invention, when operator operates main hand, the fortune from each joint of arm
The dynamic movement for following each joint of main hand completely.
If from mechanical arm and the main hand isomery of the present invention is held, it is empty with working from end mechanical arm to initially set up main hand working space
Between hint obliquely at relationship, when operator operate main hand when, by the position of main hand handle and posture be mapped onto from end mechanical arm tail end hold
Row device, by determining the movement from end each joint of mechanical arm from the kinematic inverse solution of end mechanical arm.
From the service load of mechanical arm tail end is held by being mounted on from the force sensor measuring on the mechanical arm of end, through suitably contracting
The power of operator is fed back to after small as main hand end, which is generated and by the motor for being mounted on main swivel of hand through speed reducer
It is obtained after amplification, the size of each joint motor power output is by feedback force, each linkage component gravity of main hand, joint-friction power and master
Hand posture determines jointly.
The present invention can fix use, and the mobile operation of progress can be also carried by operator, is had the characteristics that：
1. the joint to be held is the 4th joint, in intermediate position rather than least significant end, and axis and a upper joint
Vertically, the movement in each joint can be accurately controlled, avoids the occurrence of the linkage between multi-joint；
2. the compact layout in the joint of end three is together, compact-sized, the flexibility of finger can be made full use of to control
Make these three joints；
3. corresponding power feel information can be provided to operator to improve relaxing for operation according to the workload size from arm end
Adaptive and the feeling of fatigue for mitigating operator's long-time operation.
Description of the drawings
Fig. 1 is the structure diagram of the main hand of force feedback remote operating of the present invention.
Fig. 2 is the structure diagram of first connecting rod component in the present invention.
Fig. 3 is the structure diagram of second connecting rod component in the present invention.
Fig. 4 is A-A sectional views in Fig. 3.
Fig. 5 is the structure diagram of third connecting rod component in the present invention.
Fig. 6 is B-B sectional views in Fig. 7.
Fig. 7 is the structure chart of fourth link component, the 5th linkage component and handle A6 in the present invention.
In figure：1. first connecting rod component, 2. second connecting rod components, 3. third connecting rod components, 4. fourth link components, 5.
Five linkage components, 6. handles；
101. pedestal, 102. first shells, 103. first motors, 104. first motor flanges, 105. first potentiometers,
106. the first speed reducer, 107. first driven gears, 108. first driving gears, 109. first supports, 110. output flanges；
201. second shells, 202. second motors, 203. driving pulleys, 204. second driven gears, 205. second current potentials
Meter, 206. second output flanges, 207. second speed reducers, 208. driven pulleys, 209. second protecgulums, 210. second rear covers；
301. first connecting plates, 302. third housings, 303. third motors, 304. driving pulleys, 305. third driven tooths
Wheel, 306. third potentiometers, 307. third output flanges, 308. third speed reducers, 309. driven pulleys, 310. third rear covers；
401. second connecting plates, 402. bearing blocks, 403. the 4th potentiometers, 404. left shells, 405. stop screws, 406.
Baffle ring, 407. right shell bodies, 408. damped rings, 409. bearings, 410. holding screws, 411. upper covers；
501. second supports, 502. shafts, 503. bearings, 504. bearings, 505. holding screws, 506. potentiometer housings,
507. the 5th potentiometers, 508. rear covers, 509 rack plates；
601. rear covers, 602. the 6th potentiometers, 603. bearings, 604. damped rings, 605. the 5th housings, 606. upper covers,
607. button switch.
Specific embodiment
The main hand of force feedback remote operating of the present invention, as shown in Figure 1, connecting including sequentially connected first connecting rod component 1, second
Rod unit 2, third connecting rod component 3, fourth link component 4, the 5th linkage component 5 and rotary knob member 6.Between each linkage component
Connected by rotary joint, be mounted on potentiometer or encoder on each rotary joint, wherein first connecting rod component 1,
Motor and speed reducer, first connecting rod are installed between second connecting rod component 2 and third connecting rod component 3 on the rotary joint of junction
The input terminal of motor and speed reducer connects in component, and the motor in second connecting rod component and third connecting rod component passes through with speed reducer
Toothed belt transmission connects, and carries out deceleration transmission, the angular displacement of output terminal is by a pair of of gear drive by corresponding potentiometer
It measures.
The structure of first connecting rod component 1 is as shown in Fig. 2, including pedestal 101, first shell 102 and be set to first shell
The first motor 103, the first speed reducer 106, the first potentiometer 105, the first driven gear 107 and the first driving gear in 102
108.First shell 102 is connected on pedestal 101.First motor 103 is connected to the first speed reducer by the first motor flange 104
On 106.First speed reducer 106 is mounted in first support 109, and first support 109 is fixed by screws in first shell 102
It is interior.First driving gear 108 is mounted on the output flange of the first speed reducer 106.First driven gear 107 is mounted on first support
It is engaged on 109 and with the first driving gear 108, the first potentiometer 105 is connect with the first driven gear 107.First output flange
The threaded hole for being attached with second connecting rod component is machined on 110 outer end face.
The structure of second connecting rod component 2 as shown in Figure 3 and Figure 4, including second shell 201, is provided in second shell 201
Second motor 202, the second speed reducer 207, the second potentiometer 205, the second driving gear 206, the second driven gear 204, active
Belt wheel 203, driven pulley 208, the second protecgulum 209 and the second rear cover 210.Second shell 201 is connected to the first output with screw
On flange 110, the second motor 202 is mounted in second shell 201, and driving pulley is fixed with holding screw on output shaft
203, the driven pulley 208 being fixed on 207 input shaft of the second speed reducer by synchronous belt drive rotates.Second speed reducer 207
Output axis with the output axis of the first speed reducer 106 be vertical.Second driving gear 206 is mounted on the second speed reducer
207 output terminal, the second driven gear 204 are mounted on the axis of the second potentiometer 205 and are engaged with the first driving gear 209.
The both ends of housing 201 are respectively arranged with the second protecgulum 209 and the second rear cover 210.It is machined on the end face of second driving gear 206
For connecting the threaded hole of third connecting rod component 3.
The structure of third connecting rod component 3 as shown in Figure 5 and Figure 6, including the first connecting plate 301 and third housing 302, third
Third motor 303, third speed reducer 308 and third potentiometer 306 are provided in housing 302.First connecting plate 301 passes through screw
(the namely output terminal of the second speed reducer 208), third shell are connected on the second driving gear 206 in second connecting rod component 2
Body 302 is connected by screw on the first connecting plate 301.Third motor 307 is mounted on third housing 302, is used on output shaft
Holding screw is fixed with driving pulley 304, the driven pulley being fixed on by synchronous belt driving on 308 input shaft of third speed reducer
309 rotations.Third speed reducer 308 and third potentiometer 306 are installed in housing 302.Third driving gear 307 is mounted on the
The output terminal of three speed reducers 308, third driven gear 305 be mounted on third potentiometer 306 axis on and with third driving gear
307 engagements.The both ends of housing 302 are separately installed with protecgulum 301 and rear cover 310.It is machined on the end face of third driving gear 307
For connecting the threaded hole of fourth link component 4.
The structure of fourth link component 4 is as shown in fig. 7, comprises the second connecting plate 401, the 4th potentiometer 403 and the 4th shell
Body.Second connecting plate 401 is connected by screw on the third driving gear 310 in third connecting rod component 3 that (namely third subtracts
The output terminal of fast machine 309), bearing block 402 is connected on the second connecting plate 401.4th housing is by left shell 404 and right shell body
407 synthesis, left shell 404 and right shell body 407 are mounted on by bearing 409 on bearing block 402, pass through screw lock.Bearing 409
It is positioned by baffle ring 406.The upper end of left shell 404 and right shell body 407 is provided with upper cover 411.4th potentiometer 403 is mounted on axis
In bearing 402, the output shaft of the 4th potentiometer 403 is locked with right shell body 407 by holding screw 410 and rotated together.Bearing
Stop screw 405 is provided on seat 402, for being limited to the rotational angle of housing.O is provided between housing and bearing block 402
Type damped ring 408 generates damping by rubbing, makes operation more comfortable.The pivot center and third speed reducer 309 of 4th housing are defeated
The pivot center of outlet is vertical, can preferably avoid linking in this way, and makes full use of the flexibility of finger to control each joint
Movement, operation is accurate.
The structure of 5th linkage component 5 is as shown in fig. 7, comprises 501 and the 5th potentiometer 507 of second support.Second support
501 are connected by screw on the left shell 404 in fourth link component 4, pass through bearing 503 and bearing in second support 501
504 are equipped with shaft 502, and one end (left end in Fig. 4) of shaft 502 is defeated by holding screw 505 and the 5th potentiometer 507
Shaft is locked and is rotated together, and potentiometer housing 506 is fixed by screw and first support 501.It is provided in second support 501
Rack plate 509.The rear portion of potentiometer housing 506 is provided with rear cover 508.It is also equipped between shaft 502 and first support 501
O-shaped damped ring generates damping by rubbing, makes operation more comfortable.
The structure of rotary knob member 6 is as shown in fig. 7, comprises the 5th housing 605 and the 6th potentiometer 602.5th housing 605 is logical
It crosses in the shaft 502 that sliding bearing 603 is installed in the 5th linkage component 5, the 5th housing 605 can be with respect to shaft 502 freely
Rotation.6th potentiometer 602 is connected in shaft 502, and the output shaft of the 6th potentiometer 602 passes through holding screw and the 5th housing
605 lock and rotate together.The upper end of 5th housing 605 is equipped with button switch 607 by upper cover 606.6th potentiometer 602
Rear portion be provided with rear cover 601.O-shaped damped ring 604 is provided between 5th housing 605 and bearing 603, with sliding bearing 603
Friction generates damping, makes operation more comfortable.
Encoder replacement may be used in each potentiometer.
During operation, palm when held fourth link component can drive turning for first, second, third, fourth linkage component
It is dynamic, while finger can rotate the 5th linkage component, rotary knob member, and the button switch on control handle component, so just
The manipulation moved by the completion of main hand to mechanical arm corresponding joint.
Claims (10)
1. a kind of main hand of force feedback remote operating, it is characterized in that：Including sequentially connected first connecting rod component, second connecting rod component,
Third connecting rod component, fourth link component, the 5th linkage component and rotary knob member pass through to rotate between each linkage component and close
Section connection, is mounted on potentiometer or encoder on each rotary joint, wherein first connecting rod component, second connecting rod component and
Motor and speed reducer is installed, motor is with slowing down in first connecting rod component between third connecting rod component on the rotary joint of junction
The input terminal of machine connects, and the motor in second connecting rod component and third connecting rod component is connect with speed reducer by toothed belt transmission,
Output end of reducer is connected with corresponding potentiometer or encoder.
2. the main hand of force feedback remote operating according to claim 1, it is characterized in that：The first connecting rod component, including pedestal
And first shell, first shell are connected on pedestal, and the first motor, the first speed reducer, the first current potential are provided in first shell
Meter and first support, the first motor are connect with the first speed reducer, first support are fixed in first shell, the first speed reducer is fixed
In first support, the first potentiometer is mounted in first support and passes through transmission mechanism and connect with the first speed reducer.
3. the main hand of force feedback remote operating according to claim 1, it is characterized in that：The second connecting rod component, including second
Housing is provided with the second motor, the second speed reducer and the second potentiometer in second shell；Second shell is connected to the first speed reducer
Output terminal, the second motor connect with the second speed reducer by toothed belt transmission, and the second speed reducer and the second potentiometer are respectively mounted
In second shell, the second potentiometer is connect by transmission mechanism with the second speed reducer.
4. the main hand of force feedback remote operating according to claim 3, it is characterized in that：The output axis of second speed reducer with
The output axis of first speed reducer is vertical.
5. the main hand of force feedback remote operating according to claim 1, it is characterized in that：The third connecting rod component, including first
Connecting plate and third housing, third motor, third speed reducer and third potentiometer are provided in third housing, and the first connecting plate connects
The second output end of reducer being connected in second connecting rod component, third housing are connected on the first connecting plate, and third motor passes through
Toothed belt transmission is connect with third speed reducer, and third speed reducer and third potentiometer are installed in housing, and third potentiometer leads to
Transmission mechanism is crossed to connect with third speed reducer.
6. the main hand of force feedback remote operating according to claim 2,3 or 5, it is characterized in that：The transmission mechanism is passed for gear
Motivation structure, driving gear are mounted on the output terminal of speed reducer, and driven gear is mounted on potentiometer or encoder and and driving tooth
Wheel engagement.
7. the main hand of force feedback remote operating according to claim 1, it is characterized in that：The fourth link component, including second
Connecting plate, the 4th potentiometer and the 4th housing, the second connecting plate are connected to the third output end of reducer in third connecting rod component,
Bearing block is connected on second connecting plate, housing is mounted on by bearing on bearing block, the 4th potentiometric output shaft and housing
It links together.
8. the main hand of force feedback remote operating according to claim 7, it is characterized in that：The pivot center of 4th housing and institute
The pivot center for stating third output end of reducer is vertical.
9. the main hand of force feedback remote operating according to claim 1, it is characterized in that：5th linkage component, including second
Stent and the 5th potentiometer, second support are connected on the housing in fourth link component, and shaft is equipped in second support, the
Five potentiometric output shafts are connect with shaft.
10. the main hand of force feedback remote operating according to claim 1, it is characterized in that：The rotary knob member, including the 5th housing
With the 6th potentiometer, the 5th housing is installed on by bearing in the shaft in the 5th linkage component, and the 6th potentiometer is connected to
In shaft in five linkage components, the 6th potentiometric output shaft is connect with the 5th housing, and being equipped with button on the 5th housing opens
It closes.Button switch is used to control from end mechanical arm tail end Appendage Task tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810017875.0A CN108161883B (en) | 2018-01-08 | 2018-01-08 | Force feedback teleoperation master hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810017875.0A CN108161883B (en) | 2018-01-08 | 2018-01-08 | Force feedback teleoperation master hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108161883A true CN108161883A (en) | 2018-06-15 |
| CN108161883B CN108161883B (en) | 2024-01-26 |
Family
ID=62517596
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810017875.0A Active CN108161883B (en) | 2018-01-08 | 2018-01-08 | Force feedback teleoperation master hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108161883B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111185893A (en) * | 2020-03-09 | 2020-05-22 | 辽宁科技大学 | Master-slave mechanical arm capable of synchronously acting |
| CN111618886A (en) * | 2020-06-08 | 2020-09-04 | 山东大学 | Force feedback teleoperation master hand of mechanical arm with six degrees of freedom |
| CN113618703A (en) * | 2021-10-12 | 2021-11-09 | 深圳市越疆科技有限公司 | Teleoperation manipulator and teleoperation equipment |
| CN114469356A (en) * | 2022-01-24 | 2022-05-13 | 重庆金山医疗机器人有限公司 | Driving method of master hand and surgical robot medical console |
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| JPH07148684A (en) * | 1993-11-25 | 1995-06-13 | Toshiba Corp | Master arm device of master-slave system |
| JPH07246578A (en) * | 1994-03-11 | 1995-09-26 | Yaskawa Electric Corp | Master hand device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111185893A (en) * | 2020-03-09 | 2020-05-22 | 辽宁科技大学 | Master-slave mechanical arm capable of synchronously acting |
| CN111618886A (en) * | 2020-06-08 | 2020-09-04 | 山东大学 | Force feedback teleoperation master hand of mechanical arm with six degrees of freedom |
| CN113618703A (en) * | 2021-10-12 | 2021-11-09 | 深圳市越疆科技有限公司 | Teleoperation manipulator and teleoperation equipment |
| CN113618703B (en) * | 2021-10-12 | 2022-08-30 | 深圳市越疆科技有限公司 | Teleoperation manipulator and teleoperation equipment |
| CN114469356A (en) * | 2022-01-24 | 2022-05-13 | 重庆金山医疗机器人有限公司 | Driving method of master hand and surgical robot medical console |
| CN114469356B (en) * | 2022-01-24 | 2023-09-15 | 重庆金山医疗机器人有限公司 | Driving method of master hand and surgical robot doctor control console |
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