CN109632173A - A kind of caliberating device of multiple-degree-of-freedom force feedback equipment end three-dimensional force precision - Google Patents
A kind of caliberating device of multiple-degree-of-freedom force feedback equipment end three-dimensional force precision Download PDFInfo
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- CN109632173A CN109632173A CN201811599943.5A CN201811599943A CN109632173A CN 109632173 A CN109632173 A CN 109632173A CN 201811599943 A CN201811599943 A CN 201811599943A CN 109632173 A CN109632173 A CN 109632173A
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- degree
- feedback equipment
- force feedback
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
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Abstract
The present invention proposes a kind of caliberating device of multiple-degree-of-freedom force feedback equipment end three-dimensional force precision, detects box body including three-D electric sliding rail and the power being fixed on three-D electric sliding rail；The power detection box body is internally provided with cuboid cavity, and the cuboid cavity internal clearance is fitted with a cuboid stressed member；The left side outer wall of the cuboid stressed member connects multiple-degree-of-freedom force feedback equipment end, and the left side outer wall of cuboid stressed member be provided centrally with force sensor and upper and lower, forward and backward and right side inner wall the center of cuboid cavity is respectively arranged with force sensor.The present invention can accurately move the spatial position of multiple-degree-of-freedom force feedback equipment end by three-D electric sliding rail, reduce location error；By the force sensor being mounted on six direction, the independent power output measured in all directions eliminates the coupling influence of three-dimensional force and torque, the precision of force feedback equipment power output can be demarcated and improved by the present apparatus.
Description
Technical field
The present invention relates to force feedback technique fields, more particularly to a kind of multiple-degree-of-freedom force feedback equipment end three-dimensional force essence
The caliberating device of degree.
Background technique
Conventional human's interaction technique makees the vision of people, the sense of hearing to primary study object, and less focuses on dynamic sensing interexchanging skill
The research of art.Haptic device technology is simulated really using the reaction force that special mechanical structure and transmission device show
The size of active force suffered by people, direction and damping impression, give power sense and the stimulation of kinesthesia in environment, to give people
Power true to nature is provided and feels impression, the authenticity and feeling of immersion of human-computer interaction can be greatlyd improve.
Now widely used force feedback equipment has the Phantom series of SensAble company, the U.S., Switzerland Force
Delta.6, Omega.7 and Sigma.7 series and domestic development multiple-degree-of-freedom force feedback that Dimension company develops are set
It is standby, but the caliberating device of the power output of these force feedback equipment ends seldom occurs, and user can only pass through force feedback mostly
The power output of the software observation force feedback equipment end of coordinative composition of equipments, cannot but verify whether the precision for having reached power output, and
The multiple-degree-of-freedom force feedback equipment of independent development is also required to a kind of power caliberating device to improve the performance of force feedback system, for changing
The control parameter of kind control system, to improve the power output precision of multiple-degree-of-freedom force feedback equipment.
Summary of the invention
To solve the above problems, the present invention proposes a kind of calibration dress of multiple-degree-of-freedom force feedback equipment end three-dimensional force precision
It sets, stated accuracy is high, and operation is simple, and structure is simply light and handy, easy to repair.
Technical solution: the present invention proposes a kind of caliberating device of multiple-degree-of-freedom force feedback equipment end three-dimensional force precision, packet
The power detection box body for including three-D electric sliding rail and being fixed on three-D electric sliding rail；The power detection box body is internally provided with length
Cube cavity, the cuboid cavity internal clearance are fitted with a cuboid stressed member；The cuboid stressed member
Left side outer wall connect multiple-degree-of-freedom force feedback equipment end, and the left side outer wall of cuboid stressed member is provided centrally with
In the upper inside walls of force sensor and cuboid cavity, downside inner wall, front inner wall, rear side inner wall and right side inner wall
The heart is respectively arranged with force sensor.
Further, the three-D electric sliding rail includes electric operated control box, and the electric operated control box includes multiple control buttons
With the display screen of display power detection box space position, the control button is for controlling three axle positions of position three-D electric sliding rail
The direction of shifting and distance and position zero.
Further, the effective travel of straight line electric sliding rail is not less than 500mm, sliding rail displacement essence in the three-D electric sliding rail
Degree is not less than 0.1mm.
Further, the cuboid stressed member is fixedly connected with multiple-degree-of-freedom force feedback equipment end by several studs.
Further, the quantity of the stud be 4, and be arranged symmetrically in cuboid stressed member left side outer wall four
A angular zone.
Further, the left wall of the power detection box body is a removable end cap
Further, the removable end cap is bolted on power detection box body.
Further, the outer right wall of the removable end cap is provided with positioning convex platform.
Further, the model DYHW-116 of the force sensor, radius 10-25mm.
The utility model has the advantages that on the one hand, the present invention is by being symmetrically mounted on cuboid stressed member upper and lower, left and right, preceding, rear six
Force sensor on a direction, the independent power output measured in all directions, eliminates the coupling shadow of three-dimensional force and three-dimensional moment
It rings, reduces the error of power measurement；Three-D electric sliding rail can accurately draw multiple-degree-of-freedom force feedback equipment end in its fortune
It is moved in dynamic space, reduces location error transmitting, improve the precision of calibration；On the other hand, force sensor acquisition movement
Multiple three-dimensional output force datas of spatial dimension can fit multiple-degree-of-freedom force feedback equipment control in conjunction with spatial positional information
The control formula of system processed.The control parameter that adjustment control system is helped by demarcating can be improved more in R&D process
The power output precision of freedom degree force feedback device control system.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the decomposition texture schematic diagram that power of the invention detects box body；
Fig. 3 is the assembling structure schematic diagram that power of the invention detects box body；
Fig. 4 is the structural schematic diagram of cuboid stressed member of the invention；
Fig. 5 is the structural schematic diagram of removable end cap of the invention；
Fig. 6 is the front view that power of the invention detects the intracorporal cuboid cavity of box.
In figure: 1- three-D electric sliding rail；2- power detects box body；3- cuboid stressed member；4- force sensor；5- is removable
Unload end cap；6- positioning convex platform.
Specific embodiment
As shown in Figure 1, the present invention proposes a kind of caliberating device of multiple-degree-of-freedom force feedback equipment end three-dimensional force precision, packet
The power detection box body 2 for including three-D electric sliding rail 1 and being fixed on three-D electric sliding rail 1.The power detection box body 2 is in three-D electric
On 1 track of sliding rail with three-dimensional space motion range, can draw multiple-degree-of-freedom force feedback equipment end be moved to it is different
Spatial position measures the three-dimensional power output of multiple-degree-of-freedom force feedback equipment end different spatial in its space.
Wherein, during the multiple-degree-of-freedom force feedback equipment power output, due to the variation of end spaces position, output
The arm of force of power is also changing.The precision of the multiple-degree-of-freedom force feedback equipment power output and the precision and control system of spatial position
Parameter selection have direct relationship.
The effective travel of straight line electric sliding rail is not less than 500mm, sliding rail displacement essence in the three-D electric sliding rail 1 of the present embodiment
Degree is not less than 0.1mm.It is empty in its movement that the three-D electric sliding rail 1 can accurately draw multiple-degree-of-freedom force feedback equipment end
Interior movement reduces location error transmitting, improves the precision of calibration
As shown in Figure 1, the three-D electric sliding rail 1 is fixed on horizontal experimental bench, when calibration, multiple-degree-of-freedom force feedback equipment is solid
Due on same level experimental bench.The three-D electric sliding rail 1 controls each axis movement by electric operated control box, described electronic
Control cabinet includes control button and display screen, and the control button of the electric operated control box controls 1 three axle positions of three-D electric sliding rail
The direction of shifting and distance；The control button further includes position zero function；The display screen shows the relative displacement of each axis, warp
After crossing setting origin and position zero, the spatial position of the as described power detection box body 2.
Such as Fig. 2, Fig. 3 and as shown in fig. 6, power detection box body 2 is internally provided with cuboid cavity, the cuboid
Cavity internal clearance is fitted with a cuboid stressed member 3 as shown in Figure 4；The left side of the cuboid stressed member 3
Four angular zones of outer wall are arranged symmetrically there are four stud, cuboid stressed member 3 described in four Stud connections and mostly oneself
By degree force feedback equipment end.The position up and down of this specification is with reference to figure 2.
As shown in figure 4, the left side outer wall of the cuboid stressed member 3 is provided centrally with force sensor 4；And such as Fig. 2
With shown in Fig. 6, the center of the upper inside walls of the cuboid cavity, downside inner wall, front inner wall, rear side inner wall and right side inner wall
It is respectively arranged with force sensor 4.The model DYHW-116 of the force sensor 4, radius 10-25mm.The power is felt
Sensor 4 includes control circuit, and the control circuit includes signal acquisition, filters, amplifies, and processing, the modules such as communication pass through institute
It states control circuit institute's measuring pressure value is shown on computer.
Wherein, six force sensors 4 are in contact with six faces center of cuboid stressed member 3, are arranged symmetrically,
The coupling influence of three-dimensional force and three-dimensional moment is eliminated, the error of power measurement is reduced, so that measurement data is more intuitive precisely.
As shown in figure 5, the left wall of the power detection box body 2 is a removable end cap 5.As shown in figure 3, described detachable
End cap 5 is bolted on the power detection box body 2.The outer right wall of the removable end cap 5 is provided with positioning convex platform
6.As shown in Fig. 2, the positioning convex platform 6 connects with the force sensor 4 on the cuboid stressed member 3, for surveying
Measure left-hand power output.
Wherein, the positioning convex platform 6 is also used to adjust the cuboid stressed member 3 and detects inside box body 2 with the power
Cuboid cavity gap, make the cuboid stressed member 3 will not the power detect box body 2 inside cuboid cavity
Interior generation is significantly shaken, and impact is reduced, and improves measurement accuracy.
Apparatus of the present invention in the initial state, positioning and demarcating origin first.Pass through the electric operated control box of the three-D electric sliding rail 1
The power controlled on moving three dimension electric sliding rail 1 detects box body 2, is driven by the cuboid stressed member 3 in power detection box body 2
Multiple-degree-of-freedom force feedback equipment end is adjusted to the position of its space origin.Press the electronic of the three-D electric sliding rail 1
Be zeroed control button for position on control cabinet, by each axis zeroing data of three-D electric sliding rail 1.Initial position as calibration herein,
Force feedback equipment end spaces position is (0,0,0) at this time, moves space origins coincidence.
During the calibration process, the power on moving three dimension electric sliding rail 1 is controlled by the electric operated control box and detects box body 2, each axis
It is moved with the interval of each 5-50mm.When Z axis is motionless, by X, the different location in Y-axis be can determine in a plane
Several spatial points；When Z axis is moved, it may be determined that the spatial point in multiple planes.
It is anti-by multiple degrees of freedom power after the power detection box body 2 on the three-D electric sliding rail 1 is moved to a certain spatial position
It presents equipment end and drives the cuboid stressed member 3 by four studs, generate not Tongfang in power detection 2 inner wall of box body
To active force, the size of the power exported on three-dimensionals is acquired by six force sensors 4.Multiple-degree-of-freedom force feedback is set
Standby to export the power of 0-50N on six direction respectively by its control system, each power output is set to 1N.Six institutes
The data for stating the acquisition of force sensor 4 are sent on computer by the control circuit to be stored.By in the space bit
The inputoutput data for setting the six groups of power measured compares the accuracy rating of available multiple-degree-of-freedom force feedback equipment.
Each axial displacement interval can freely be adjusted in the three-D electric sliding rail 1, pass through high accuracy three-dimensional electric sliding rail 1
Fine spatial position can be obtained, the accuracy of calibration is improved.
Wherein, the control system of the multiple-degree-of-freedom force feedback equipment is the electricity in such a way that driving motor exports feedback force
Machine is the current driver driving by the control mode modulated based on pulse width.The output of multiple-degree-of-freedom force feedback equipment end
When power, the duty ratio numerical value of the current driver has correlation with spatial position (x, y, z) and the power F that should be exported.
It can get the power input of each spatial position in multiple-degree-of-freedom force feedback equipment moving spatial dimension by the present apparatus
Output data, it is hereby achieved that the precision of multiple-degree-of-freedom force feedback equipment end power output；Further, in conjunction with each space
The inputoutput data of position and power can adjust the control in multiple-degree-of-freedom force feedback equipment output Force control system with conversed analysis
Parameter processed, to improve the power output precision and robustness of multiple-degree-of-freedom force feedback apparatus control system in R&D process.
The beneficial effects of the present invention are: on the one hand, the present invention by be symmetrically mounted on cuboid stressed member it is upper and lower, it is left,
Right, preceding, on rear six direction force sensor, the independent power output measured in all directions, eliminates three-dimensional force and three-dimensional force
The coupling influence of square reduces the error of power measurement；Three-D electric sliding rail can accurately draw multiple-degree-of-freedom force feedback equipment
End is moved in its space, is reduced location error transmitting, is improved the precision of calibration；On the other hand, force sensing
Multiple three-dimensional output force datas of device acquisition space scope can fit multiple degrees of freedom power in conjunction with spatial positional information
The control formula of feedback device control system.Research and development can be improved in the control parameter that adjustment control system is helped by demarcating
The power output precision of multiple-degree-of-freedom force feedback apparatus control system in the process.
Caliberating device stated accuracy of the present invention is high, and operation is simple, and structure is simply light and handy, easy to repair.Through the invention
Caliberating device, can be with the power output precision of Accurate Calibration multiple-degree-of-freedom force feedback equipment, while can significantly improve multiple degrees of freedom
The robustness and power output precision of force feedback equipment control system.
Claims (9)
1. a kind of caliberating device of multiple-degree-of-freedom force feedback equipment end three-dimensional force precision, it is characterised in that: including three-D electric
Sliding rail (1) and the power being fixed on three-D electric sliding rail (1) detection box body (2)；Power detection box body (2) is internally provided with
Cuboid cavity, the cuboid cavity internal clearance are fitted with a cuboid stressed member (3)；The cuboid stress
The left side outer wall connection multiple-degree-of-freedom force feedback equipment end of component (3), and the left side outer wall of cuboid stressed member (3)
It is provided centrally with force sensor (4)；And the upper inside walls of cuboid cavity, downside inner wall, front inner wall, rear side inner wall and
The center of right side inner wall is respectively arranged with force sensor (4).
2. the caliberating device of multiple-degree-of-freedom force feedback equipment according to claim 1 end three-dimensional force precision, feature exist
In: the three-D electric sliding rail (1) includes electric operated control box, and the electric operated control box includes multiple control buttons and display power inspection
The display screen of box body (2) spatial position is surveyed, the control button is used to control the side of position three axial displacements of three-D electric sliding rail
It is zeroed to distance and position.
3. the caliberating device of multiple-degree-of-freedom force feedback equipment according to claim 2 end three-dimensional force precision, feature exist
In: the effective travel of straight line electric sliding rail is not less than 500mm in the three-D electric sliding rail (1), and sliding rail displacement accuracy is not less than
0.1mm。
4. the caliberating device of multiple-degree-of-freedom force feedback equipment according to claim 1 end three-dimensional force precision, feature exist
In: the cuboid stressed member (3) is fixedly connected with multiple-degree-of-freedom force feedback equipment end by several studs.
5. the caliberating device of multiple-degree-of-freedom force feedback equipment according to claim 4 end three-dimensional force precision, feature exist
In: the quantity of the stud is 4, and is arranged symmetrically in four angular zones of the left side outer wall of cuboid stressed member (3).
6. the calibration dress of multiple-degree-of-freedom force feedback equipment end three-dimensional force precision described in -5 any one according to claim 1
It sets, it is characterised in that: the left wall of power detection box body (2) is a removable end cap (5).
7. the caliberating device of multiple-degree-of-freedom force feedback equipment according to claim 6 end three-dimensional force precision, feature exist
In: the removable end cap (5) is bolted in power detection box body (2).
8. the caliberating device of multiple-degree-of-freedom force feedback equipment according to claim 6 end three-dimensional force precision, feature exist
In: the outer right wall of the removable end cap (5) is provided with positioning convex platform (6).
9. the caliberating device of multiple-degree-of-freedom force feedback equipment according to claim 1 end three-dimensional force precision, feature exist
In: the model DYHW-116, radius 10-25mm of the force sensor (4).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811599943.5A CN109632173A (en) | 2018-12-26 | 2018-12-26 | A kind of caliberating device of multiple-degree-of-freedom force feedback equipment end three-dimensional force precision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811599943.5A CN109632173A (en) | 2018-12-26 | 2018-12-26 | A kind of caliberating device of multiple-degree-of-freedom force feedback equipment end three-dimensional force precision |
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| CN109632173A true CN109632173A (en) | 2019-04-16 |
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| CN201811599943.5A Pending CN109632173A (en) | 2018-12-26 | 2018-12-26 | A kind of caliberating device of multiple-degree-of-freedom force feedback equipment end three-dimensional force precision |
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Cited By (1)
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| CN110567639A (en) * | 2019-07-31 | 2019-12-13 | 中国航天空气动力技术研究院 | Multi-axis force sensor calibration method and calibration device |
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Application publication date: 20190416 |