CN109696930A - A kind of six degree of freedom three-dimensional force feedback mechanism - Google Patents
A kind of six degree of freedom three-dimensional force feedback mechanism Download PDFInfo
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- CN109696930A CN109696930A CN201910102765.9A CN201910102765A CN109696930A CN 109696930 A CN109696930 A CN 109696930A CN 201910102765 A CN201910102765 A CN 201910102765A CN 109696930 A CN109696930 A CN 109696930A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D15/00—Control of mechanical force or stress; Control of mechanical pressure
- G05D15/01—Control of mechanical force or stress; Control of mechanical pressure characterised by the use of electric means
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Abstract
The present invention relates to a kind of six degree of freedom three-dimensional force feedback mechanisms, including pedestal, turntable, the parallel four-bar linkage being mounted on turntable and the end effector mechanism for being mounted on parallel four-bar linkage end；Turntable is connected to pedestal by revolute pair, one root long bar of the first driven wheel and parallel four-bar linkage is fixedly installed in the support shaft on turntable, the other end for the proximal stem that the rotational installation of the proximal stem of second driven wheel and parallel four-bar linkage is rotationally connected in the support shaft on turntable, another root long bar of parallel four-bar linkage；Distal rod is equipped with end Three Degree Of Freedom execution device, and by three axis, successively vertically arranged revolute pair is connected and composed for end effector mechanism.The present invention acquires position and the posture six-degree-of-freedom information of wrist, and can apply force feedback in three one-movement-freedom-degree directions；The present invention uses mixed connection topological structure, realizes biggish working space and preferable mechanism rigidity, compact-sized, registration is widely used.
Description
Technical field
The present invention relates to a kind of force feedback mechanisms, more particularly to a kind of six degree of freedom three-dimensional force feedback mechanism.
Background technique
Virtual reality technology and augmented reality are the cutting edge technologies of current scientific research field, the power during virtual reality
Feel that telepresenc is the pith for embodying virtual reality interactivity, preferable force teleprence makes operating process more really may be used
It leans on.And force sense interactive device (force feedback equipment) is the interface that designer and virtual environment carry out dynamic sensing interexchanging, is virtual existing
Important component in real system.
There are many scientific research personnel to engage in the exploitation of force feedback equipment both at home and abroad, is sent out by being retrieved to existing technical literature
Existing, the force feedback equipment in parallel of Switzerland force dimension, the patent of invention (US8667860) for the application that succeeded relates to
And be a six degree of freedom force feedback handle, may be implemented the force feedback of four freedom degrees, but due to using parallel-connection structure,
Space is smaller, and kinematic dexterity is general, and due to using the particularity of material to cause equipment price expensive；The U.S.
The PHANTOM series force feedback handle of Senable company, publication (US20080291161A1), is a series connection
Six degree of freedom force feedback manipulator has biggish working space and preferable kinematic dexterity, but its mechanical stiffness is poor, and
Feedback force is smaller, and price is higher.
Summary of the invention
The technology of the present invention solves the problems, such as: a kind of six degree of freedom three-dimensional force feedback mechanism is overcome the deficiencies of the prior art and provide,
Using mixed connection topological structure, space is big, and mechanical stiffness is preferable, compact-sized, and registration is widely used.
The technology of the present invention solution: a kind of six degree of freedom three-dimensional force feedback mechanism, including pedestal, turntable, be mounted on turn
The parallel four-bar linkage of platform and the end Three Degree Of Freedom execution device for being mounted on parallel four-bar linkage end；
The turntable is installed on the pedestal by revolute pair, and turntable driving motor is fixedly connected with the base, institute
It states turntable driving motor and drives the turntable to rotate by silk transmission；The turntable is fixedly installed with the first driving motor, second
Driving motor, the turntable are rotatably equipped with parallel four-bar linkage support shaft；
Further, the first driven wheel and parallel four-bar linkage lower part stock are fixedly installed in the support shaft.
First driven wheel is fixed to the support shaft connection by jackscrew, and is installed on first driving motor output shaft side, institute
It states between the first driving motor and first driven wheel using silk transmission driving；
Further, the support shaft is rotatably equipped with second driven wheel, and is installed on second driving motor
Output shaft side, using silk transmission driving between second driving motor and second driven wheel.Second driven wheel
It is fixedly connected with parallel four-bar linkage proximal end quarter butt, described parallel four-bar linkage proximal end quarter butt one end and the support shaft turn
Dynamic connection, the other end and parallel―ordinal shift top stock are rotatablely connected.Parallel four-bar linkage upper end stock and institute
The other end for stating parallel four-bar linkage lower end stock is rotatablely connected with the parallel four-bar linkage distal rod respectively；
Further, parallel four-bar linkage distal rod end is fixed with Three Degree Of Freedom execution device.The end
End Three Degree Of Freedom execution device includes the 4th shaft, the 5th shaft under being sequentially connected from parallel―ordinal shift distal rod to end
And the 6th shaft；
Further, the 4th shaft and the parallel―ordinal shift distal rod are rotatablely connected, and are equipped in junction
Rotary encoder detects the angle of the 4th shaft to realize；
Further, the 5th shaft and the 4th shaft are rotatablely connected, and the axis direction of the 5th shaft and the
The axis direction of four shafts is vertical, and is equipped with rotary encoder in junction, realizes the angle for the 5th shaft with this
Degree detection；
Further, the 6th shaft axis and the 5th shaft are rotatablely connected, and the axis direction of the 6th shaft
It is vertical with the axis direction of the 5th shaft, and rotary encoder is installed in junction, to realize for the 6th shaft angle
Degree detection.Mechanical switch is fixedly installed in the 6th shaft.
Further, the turntable, the first driven wheel, the second driven wheel, the 4th shaft, the 5th shaft and the 6th shaft
It is provided with limiting device, to constrain the slewing area of each shaft.
Further, the turntable motor, first driving motor and second driving motor rear end are provided with
Encoder, to realize the detection of each driving motor rotational angle；
The present invention having the beneficial effect that compared with prior art
(1) present invention is mixed connection force feedback mechanism, be may be implemented by three motor encoders and three individual encoders
Three-dimensional force feedback may be implemented by three motors to realize the calculating of end pose in detection for six shaft rotary corners
Output.Use hybrid connected structure that can move flexibly, space is big, and feedback force is accurate, instead with Optimization Work space and mechanism rigidity
It answers sensitive.
It is all made of silk transmission between (2) three driving motors and its corresponding driven wheel, on the one hand realizes larger subtract
On the other hand the transmission of speed ratio realizes the preload of silk by installing spring additional to realize the output of larger feedback force to eliminate between transmission
Gap, optimization transmission effect.
Detailed description of the invention
Fig. 1 is overall structure front isometric view of the invention；
Fig. 2 is overall structure rear axle mapping of the invention；
Fig. 3 is pedestal of the invention and turntable component；
Fig. 4 is fourth, fifth shaft member cross-sectional view of the invention；
Fig. 5 is the five, the six shaft member cross-sectional views of the invention；
Appended drawing reference: 01- pedestal, 02- turntable, the second driving motor of 03-, 04- the first driven wheel 05- parallel―ordinal shift machine
The lower part stock of structure, the 6th shaft of 06-, 07- mechanical switch, the 4th shaft of 08-, the distal rod of 11- parallel four-bar linkage,
The top stock of 12- parallel four-bar linkage, the proximal end quarter butt of 14- parallel four-bar linkage, the second driven wheel of 15-, 16- first
Driving motor, 17- turntable motor, 18- support shaft, the 5th shaft of 19-, the second rotary encoder of 20-, the 5th shaft shell of 21-,
23- third rotary encoder, the first rotary encoder of 24-.
Specific embodiment
A kind of six degree of freedom three-dimensional force feedback mechanism of the present invention, structure include pedestal, turntable, are mounted on putting down on turntable
Row four-bar mechanism and the end effector mechanism for being mounted on parallel four-bar linkage end.Its intermediate station is connected by revolute pair
It is connected to pedestal, a root long bar of the first driven wheel and parallel four-bar linkage is fixedly installed in the support shaft on turntable, and second
The rotational installation of the proximal stem of driven wheel and parallel four-bar linkage in the support shaft on turntable, parallel four-bar linkage it is another
Root long bar is rotationally connected with the other end of the proximal stem of parallel four-bar linkage.The distal rod of parallel four-bar linkage is equipped with end
Three Degree Of Freedom execution device is held, successively vertically arranged revolute pair connects and composes by three axis for end effector mechanism.It should
Mechanism can acquire position and the posture six-degree-of-freedom information of wrist, and can be anti-in three one-movement-freedom-degree direction applied forces
Feedback；The present invention uses mixed connection topological structure, it can be achieved that biggish working space and preferable mechanism rigidity, compact-sized, positioning
Accurately, it is widely used.
Technical solution of the present invention is described in further detail in the following with reference to the drawings and specific embodiments, it is described specific
Embodiment is only explained the present invention, is not intended to limit the invention.
As depicted in figs. 1 and 2, a kind of six degree of freedom three-dimensional force feedback mechanism of the present invention, comprising: pedestal 01, turntable 02, peace
Mounted in the lower part stock 05 of the parallel four-bar linkage of turntable, distal rod 11, top stock 12, proximal end quarter butt 14 and it is mounted on
The Three Degree Of Freedom execution device of parallel four-bar linkage end, Three Degree Of Freedom actuator include: from parallel―ordinal shift distal rod
11 be sequentially connected to end under the 4th shaft 08, the 5th shaft 19 and the 6th shaft 06.
The turntable 02 is rotatablely installed by bearing on the pedestal 01, so as to realize the fixed-axis rotation of turntable,
Turntable driving motor 17 is fixedly installed in the pedestal 01, and the turntable driving motor 17 drives the turntable 02 by silk transmission
Rotation.The first driving motor 16, the second driving motor 03, and first driving motor 16 are fixedly installed on the turntable 02
With the second driving motor 03 be centrosymmetric form arrangement.Parallel four-bar linkage support shaft is rotatably equipped on the turntable 02
18, it is fixedly installed with the lower part stock 05 of the first driven wheel 04 and parallel four-bar linkage in the support shaft 18, described first
Using silk transmission driving between driving motor 16 and first driven wheel 04.First driven wheel 04 passes through jackscrew and support shaft 18
It is fixedly connected, to realize that first driven wheel 04 is rotated synchronously with the support shaft 18.Peace is rotated in the support shaft 18
Equipped with the second driven wheel 15, to realize second driven wheel 15 around 18 fixed-axis rotation of support shaft, second driving
Using silk transmission driving between motor 03 and second driven wheel 15.Second driven wheel 15 and parallel four-bar linkage
Proximal end quarter butt 14 is fixedly connected, and 14 one end of proximal end quarter butt of the parallel four-bar linkage and the support shaft 18 are rotatablely connected,
The top stock 12 of the other end and the parallel―ordinal shift is rotatablely connected, and increases the proximal end quarter butt 14 of the parallel four-bar linkage
To realize preferable kinematic accuracy and the parallel four-bar linkage lateral rigidity.The top stock of the parallel four-bar linkage
12 and the parallel four-bar linkage lower end stock 05 the other end respectively with the distal rod 11 of the parallel four-bar linkage
Rotation connection.
As shown in Figure 4 and Figure 5, the 4th shaft 08 is rotatablely connected by the distal rod 11 of bearing and the parallel―ordinal shift,
And rotary encoder is installed in junction, to realize the detection for 08 rotational angle of the 4th shaft.Described 5th
Shaft 19 and the 4th shaft 08 are rotatablely connected, and the axis direction of the 5th shaft 19 and the axis direction of the 4th shaft 08 hang down
Directly, and in junction rotary encoder 20 is installed, to realize the detection for 19 rotational angle of the 5th shaft.Described 6th
06 axis of shaft and the 5th shaft 19 are rotatablely connected, and the axis side of the axis direction of the 6th shaft 06 and the 5th shaft 19
To vertical, and rotary encoder 23 is installed in junction, to realize the detection for 06 rotational angle of the 6th shaft.Institute
It states and is fixedly installed with mechanical switch 07 in the 6th shaft 06, to establish the button interaction between operator.
As shown in Figure 1 and Figure 2, the turntable 02, the first driven wheel 04, the second driven wheel 15, the 4th shaft 08, the 5th turn
Axis 19 and the 6th shaft 06 are provided with limiting device, to constrain the slewing area of each shaft.It is installed on the pedestal 01
There is stop screw, the rotary spacing for the turntable 02 is realized together with the limit plate of 02 bottom surface of turntable setting.Institute
There are limit convex shoulder in the two sides for stating turntable 02 respectively, the limiting slot with 15 inside of first driven wheel 04 and second driven wheel
The rotary spacing for first driven wheel 04 and second driven wheel 15 is realized together.The distal end of the parallel―ordinal shift
Bar 11 is equipped with limited block, and the rotary spacing for the 4th shaft 08 is realized together with the convex positive stop block of the 4th shaft 08.Institute
The constraint of 19 motion range of the 5th shaft is stated by the limit between the shell and the 5th shaft shell 21 of the 4th shaft 08
It realizes position；5th shaft shell, the 21 inner hole side be equipped with limited block, with the 6th shaft 06 be equipped with limited block convex shoulder together with
Realize the rotary spacing for the 6th shaft 06.
As shown in Figure 1 and Figure 2, the turntable motor 17, first driving motor 16 and second driving motor 03
Rear end is provided with encoder, and the 4th shaft 08, the 5th shaft 19 and the 6th shaft 06 are separately installed with the first encoder
24, second encoder 20 and third encoder 23.To realize the detection for six shaft rotary corners, and then realize terminal position
With the calculating of posture.It can be with by the turntable motor 17, first driving motor 16 and second driving motor 03
The output for realizing three-dimensional feedback force, establishes dynamic sensing interexchanging interface.
Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited to upper
The specific embodiment stated, the above mentioned embodiment is only schematical, be not it is restrictive, this field it is common
Technical staff under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, may be used also
By make it is many in the form of, within these are all belonged to the scope of protection of the present invention.
Claims (7)
1. a kind of six degree of freedom three-dimensional force feedback mechanism, including pedestal (01), turntable (02), be mounted on turntable (02) parallel four
Link mechanism and the Three Degree Of Freedom execution device for being mounted on parallel four-bar linkage end；
The parallel four-bar linkage includes: lower part stock (05), distal rod (11), top stock (12) and proximal end quarter butt
(14)；
The turntable (02) is installed on the pedestal (01) by revolute pair, turntable driving motor (17) and the pedestal (01)
It is fixedly connected, the turntable driving motor (17) drives the turntable (02) to rotate by silk transmission；
The first driving motor (16), the second driving motor (03) are fixedly installed on the turntable (02)；On the turntable (02)
It is rotatably connected to support shaft (18)；It is fixedly installed with the first driven wheel (04) and lower part stock (05) on the support shaft (18),
Using silk transmission driving between first driving motor (16) and first driven wheel (04)；Turn on the support shaft (18)
It is dynamic that second driven wheel (15) are installed；Second driven wheel (15) is fixedly connected with proximal end quarter butt (14), second driving
Using silk transmission driving between motor (03) and second driven wheel (15)；Described proximal end quarter butt (14) one end and the top
Stock (12) rotation connection；The other end of the top stock (12) and the lower part stock (05) respectively with the distal rod
(11) it is rotatablely connected；
Distal rod (11) end is fixedly installed with Three Degree Of Freedom execution device；The Three Degree Of Freedom execution device includes
The 4th shaft (08), the 5th shaft (19) and the 6th shaft being sequentially connected from parallel―ordinal shift distal rod (11) to end
(06)；4th shaft (08) and the parallel―ordinal shift distal rod (11) are rotatablely connected；5th shaft (19) and institute
The rotation connection of the 4th shaft (08) is stated, the axis direction of the 5th shaft (19) is vertical with the axis direction of the 4th shaft (08)；Institute
The 6th shaft (06) axis and the 5th shaft (19) is stated to be rotatablely connected, the axis direction of the 6th shaft (06) with it is described
The axis direction of 5th shaft (19) is vertical.
2. six degree of freedom three-dimensional force feedback mechanism according to claim 1, it is characterised in that: the 4th shaft (08) with
The parallel―ordinal shift distal rod (11) is equipped with the first rotary encoder (24) in junction.
3. six degree of freedom three-dimensional force feedback mechanism according to claim 1, it is characterised in that: the 5th shaft (19) with
4th shaft (08) is rotatably connected on junction and is equipped with the second rotary encoder (20).
4. six degree of freedom three-dimensional force feedback mechanism according to claim 1, it is characterised in that: the 6th shaft (06) axis
Line and the 5th shaft (19) are rotatably connected on junction and are equipped with third rotary encoder (23).
5. six degree of freedom three-dimensional force feedback mechanism according to claim 1, it is characterised in that: in the 6th shaft (22)
On be fixedly installed with mechanical switch (07).
6. six degree of freedom three-dimensional force feedback mechanism according to claim 1, it is characterised in that: the turntable (02), first
Driven wheel (04), the second driven wheel (15), the 4th shaft (08), the 5th shaft (19) and the 6th shaft (06) are respectively provided with limited
Position device.
7. six degree of freedom three-dimensional force feedback mechanism according to claim 1, it is characterised in that: the turntable motor (17),
First driving motor (16) and second driving motor (03) rear end are provided with encoder, realize that each driving motor turns
Dynamic angle detection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910102765.9A CN109696930B (en) | 2019-02-01 | 2019-02-01 | Six-degree-of-freedom three-dimensional force feedback mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910102765.9A CN109696930B (en) | 2019-02-01 | 2019-02-01 | Six-degree-of-freedom three-dimensional force feedback mechanism |
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| CN109696930A true CN109696930A (en) | 2019-04-30 |
| CN109696930B CN109696930B (en) | 2022-04-19 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142802A (en) * | 2019-07-02 | 2019-08-20 | 哈尔滨工业大学 | A kind of driven type four-bar mechanism |
| CN112489511A (en) * | 2020-11-02 | 2021-03-12 | 北京众绘虚拟现实技术研究院有限公司 | Force feedback device with replaceable handle |
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| CN105835086A (en) * | 2016-05-11 | 2016-08-10 | 华南理工大学 | Series-parallel 6-degree-of-freedom force feedback mechanical arm |
| CN106541390A (en) * | 2016-10-31 | 2017-03-29 | 南京航空航天大学 | A kind of series-parallel connection six degree of freedom force feedback equipment and using method |
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| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| CN1453670A (en) * | 2003-05-23 | 2003-11-05 | 南开大学 | Critical field force inducing operation controller |
| WO2010069429A1 (en) * | 2008-12-17 | 2010-06-24 | Kuka Roboter Gmbh | Method and device for inputting commands into a control of a manipulator |
| CN102152299A (en) * | 2011-02-25 | 2011-08-17 | 天津工业大学 | (6 plus 1)-dimension force feedback sensing device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142802A (en) * | 2019-07-02 | 2019-08-20 | 哈尔滨工业大学 | A kind of driven type four-bar mechanism |
| CN112489511A (en) * | 2020-11-02 | 2021-03-12 | 北京众绘虚拟现实技术研究院有限公司 | Force feedback device with replaceable handle |
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| CN109696930B (en) | 2022-04-19 |
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