CN109696930B - Six-degree-of-freedom three-dimensional force feedback mechanism - Google Patents
Six-degree-of-freedom three-dimensional force feedback mechanism Download PDFInfo
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- CN109696930B CN109696930B CN201910102765.9A CN201910102765A CN109696930B CN 109696930 B CN109696930 B CN 109696930B CN 201910102765 A CN201910102765 A CN 201910102765A CN 109696930 B CN109696930 B CN 109696930B
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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
Abstract
The invention relates to a six-degree-of-freedom three-dimensional force feedback mechanism which comprises a base, a rotary table, a parallel four-bar linkage mechanism arranged on the rotary table and an end effector mechanism arranged at the tail end of the parallel four-bar linkage mechanism; the rotary table is connected to the base through a revolute pair, the first driven wheel and one long rod of the parallel four-bar linkage mechanism are fixedly arranged on a support shaft on the rotary table, the second driven wheel and the near-end rod of the parallel four-bar linkage mechanism are rotatably arranged on the support shaft on the rotary table, and the other long rod of the parallel four-bar linkage mechanism is rotatably connected to the other end of the near-end rod; the far-end rod is provided with a tail end three-degree-of-freedom actuator mechanism, and the tail end actuator mechanism is formed by connecting three revolute pairs with axes which are sequentially and vertically arranged. The invention collects the six-freedom-degree information of the position and the posture of the wrist and can apply force feedback in the directions of three moving freedom degrees; the invention adopts a series-parallel topological structure, realizes larger working space and better mechanism rigidity, and has compact structure, accurate positioning and wide application.
Description
Technical Field
The invention relates to a force feedback mechanism, in particular to a six-degree-of-freedom three-dimensional force feedback mechanism.
Background
The virtual reality technology and the augmented reality technology are leading-edge technologies in the current scientific research field, the sense of force in the virtual reality process is an important part for embodying the interactivity of the virtual reality, and the better sense of force makes the operation process more real and reliable. And the force sense interaction equipment (force feedback equipment) is an interface for the designer to perform force sense interaction with the virtual environment, and is an important component in the virtual reality system.
Many scientific researchers at home and abroad are engaged in the development of force feedback equipment, and the research on documents in the prior art finds that the parallel force feedback equipment for force dimension in Switzerland has been successfully applied to an invention patent (US8667860), which relates to a six-degree-of-freedom force feedback handle and can realize force feedback of four degrees of freedom, but because of the adoption of a parallel structure, the motion space is small, the motion flexibility is general, and the equipment price is high due to the particularity of the used materials; the PHANTOM series force feedback handle of Senable corporation, US published (US20080291161a1), is a series six-freedom force feedback mechanical arm, which has large working space and good motion flexibility, but has poor mechanical rigidity, small feedback force and high price.
Disclosure of Invention
The invention solves the problems: the six-degree-of-freedom three-dimensional force feedback mechanism overcomes the defects of the prior art, adopts a series-parallel topological structure, and has the advantages of large motion space, better mechanical rigidity, compact structure, accurate positioning and wide application.
The technical scheme of the invention is as follows: a six-degree-of-freedom three-dimensional force feedback mechanism comprises a base, a rotary table, a parallel four-bar linkage mechanism arranged on the rotary table and an end three-degree-of-freedom actuator mechanism arranged at the tail end of the parallel four-bar linkage mechanism;
the rotary table is arranged on the base through a revolute pair, the rotary table driving motor is fixedly connected with the base, and the rotary table driving motor drives the rotary table to rotate through wire transmission; the rotary table is fixedly provided with a first driving motor and a second driving motor, and the rotary table is rotatably provided with a parallel four-bar linkage supporting shaft;
furthermore, a first driven wheel and a parallel four-bar mechanism lower long rod are fixedly mounted on the support shaft. The first driven wheel is fixedly connected with the supporting shaft through a jackscrew and is arranged on one side of an output shaft of the first driving motor, and the first driving motor and the first driven wheel are driven by adopting wire transmission;
furthermore, the support shaft is rotatably provided with the second driven wheel and is arranged on one side of an output shaft of the second driving motor, and the second driving motor and the second driven wheel are driven by adopting wire transmission. The second driven wheel is fixedly connected with a near-end short rod of the parallel four-bar linkage mechanism, one end of the near-end short rod of the parallel four-bar linkage mechanism is rotatably connected with the supporting shaft, and the other end of the near-end short rod of the parallel four-bar linkage mechanism is rotatably connected with a long rod at the upper part of the parallel four-bar linkage mechanism. The other ends of the long rod at the upper end of the parallel four-bar linkage mechanism and the long rod at the lower end of the parallel four-bar linkage mechanism are respectively in rotating connection with the far end rod of the parallel four-bar linkage mechanism;
furthermore, a three-degree-of-freedom actuator mechanism is fixed at the tail end of the distal end rod of the parallel four-bar linkage mechanism. The tail end three-degree-of-freedom actuator mechanism comprises a fourth rotating shaft, a fifth rotating shaft and a sixth rotating shaft which are sequentially connected from a parallel four-connecting-rod far-end rod to the tail end;
furthermore, the fourth rotating shaft is rotatably connected with the far-end rod of the parallel four-bar linkage, and a rotary encoder is installed at the connection position, so that the angle detection of the fourth rotating shaft is realized;
furthermore, the fifth rotating shaft is rotatably connected with the fourth rotating shaft, the axial direction of the fifth rotating shaft is perpendicular to the axial direction of the fourth rotating shaft, and a rotary encoder is installed at the connection position, so that the angle detection of the fifth rotating shaft is realized;
further, the axis of the sixth rotating shaft is rotatably connected with the fifth rotating shaft, the axis direction of the sixth rotating shaft is perpendicular to the axis direction of the fifth rotating shaft, and a rotary encoder is installed at the joint to detect the angle of the sixth rotating shaft. And a mechanical switch is fixedly arranged on the sixth rotating shaft.
Furthermore, the turntable, the first driven wheel, the second driven wheel, the fourth rotating shaft, the fifth rotating shaft and the sixth rotating shaft are provided with limiting devices so as to restrict the rotating range of each rotating shaft.
Furthermore, encoders are arranged at the rear ends of the turntable motor, the first driving motor and the second driving motor to detect the rotation angle of each driving motor;
compared with the prior art, the invention has the beneficial effects that:
(1) the invention relates to a hybrid force feedback mechanism, which can realize the detection of the rotation angle of a six-rotating shaft through three motor encoders and three independent encoders, thereby realizing the calculation of the end pose and realizing the output of three-dimensional force feedback through three motors. The hybrid structure can optimize the working space and the rigidity of the mechanism, and has the advantages of flexible movement, large movement space, accurate feedback force and sensitive response.
(2) The three driving motors and the corresponding driven wheels are in wire transmission, on one hand, transmission with a large reduction ratio is achieved, large feedback force output is achieved, on the other hand, pre-tightening of wires is achieved through the additionally arranged springs, transmission gaps are eliminated, and transmission effects are optimized.
Drawings
FIG. 1 is a front isometric view of the overall construction of the present invention;
FIG. 2 is a rear isometric view of the unitary structure of the present invention;
FIG. 3 is a base and turret section of the present invention;
FIG. 4 is a cross-sectional view of a fourth, five-axis component of the present invention;
FIG. 5 is a cross-sectional view of a fifth, sixth shaft component of the present invention;
reference numerals: 01-base, 02-turn table, 03-second driving motor, 04-first driven wheel 05-lower long rod of parallel four-bar linkage, 06-sixth rotating shaft, 07-mechanical switch, 08-fourth rotating shaft, 11-distal rod of parallel four-bar linkage, 12-upper long rod of parallel four-bar linkage, 14-proximal short rod of parallel four-bar linkage, 15-second driven wheel, 16-first driving motor, 17-turn table motor, 18-support shaft, 19-fifth rotating shaft, 20-second rotary encoder, 21-fifth rotating shaft housing, 23-third rotary encoder, and 24-first rotary encoder.
Detailed Description
The invention relates to a six-degree-of-freedom three-dimensional force feedback mechanism which structurally comprises a base, a rotary table, a parallel four-bar linkage mechanism arranged on the rotary table and an end effector mechanism arranged at the tail end of the parallel four-bar linkage mechanism. The rotary table is connected to the base through a revolute pair, the first driven wheel and one long rod of the parallel four-bar linkage mechanism are fixedly arranged on a supporting shaft on the rotary table, the second driven wheel and the near-end rod of the parallel four-bar linkage mechanism are rotatably arranged on the supporting shaft on the rotary table, and the other long rod of the parallel four-bar linkage mechanism is rotatably connected to the other end of the near-end rod of the parallel four-bar linkage mechanism. The far-end rod of the parallel four-bar linkage mechanism is provided with a tail end three-degree-of-freedom actuator mechanism, and the tail end actuator mechanism is formed by connecting three revolute pairs with axes which are sequentially and vertically arranged. The mechanism can acquire six-degree-of-freedom information of the position and the posture of the wrist and can apply force feedback in the directions of three moving degrees of freedom; the invention adopts a series-parallel topological structure, can realize larger working space and better mechanism rigidity, and has compact structure, accurate positioning and wide application.
The technical solutions of the present invention are further described in detail with reference to the accompanying drawings and specific embodiments, which are only illustrative of the present invention and are not intended to limit the present invention.
As shown in fig. 1 and 2, the six-degree-of-freedom three-dimensional force feedback mechanism of the present invention includes: base 01, revolving stage 02, install the lower part stock 05, distal end pole 11, the upper portion stock 12 of the parallel four-bar linkage of revolving stage, near-end quarter butt 14 and install the three degree of freedom executor mechanism at the parallel four-bar linkage end, three degree of freedom executor includes: a fourth rotating shaft 08, a fifth rotating shaft 19 and a sixth rotating shaft 06 which are connected in sequence from the far end rod 11 of the parallel four-bar linkage to the tail end.
The turntable 02 is rotatably mounted on the base 01 through a bearing, so that the fixed shaft of the turntable can rotate, the turntable driving motor 17 is fixedly mounted on the base 01, and the turntable driving motor 17 drives the turntable 02 to rotate through wire transmission. The turntable 02 is fixedly provided with a first driving motor 16 and a second driving motor 03, and the first driving motor 16 and the second driving motor 03 are arranged in a central symmetry mode. A parallel four-bar linkage supporting shaft 18 is rotatably mounted on the rotary table 02, a first driven wheel 04 and a lower long rod 05 parallel to the four-bar linkage are fixedly mounted on the supporting shaft 18, and the first driving motor 16 and the first driven wheel 04 are driven by wire transmission. The first driven wheel 04 is fixedly connected with the supporting shaft 18 through a jackscrew, so that the first driven wheel 04 and the supporting shaft 18 rotate synchronously. The supporting shaft 18 is rotatably provided with a second driven wheel 15, so that the second driven wheel 15 can rotate around the supporting shaft 18 in a fixed-axis manner, and the second driving motor 03 and the second driven wheel 15 are driven by wire transmission. The second driven wheel 15 is fixedly connected with a near-end short rod 14 of the parallel four-bar linkage mechanism, one end of the near-end short rod 14 of the parallel four-bar linkage mechanism is rotatably connected with the support shaft 18, and the other end of the near-end short rod 14 of the parallel four-bar linkage mechanism is rotatably connected with the upper long rod 12 of the parallel four-bar linkage mechanism, so that the near-end short rod 14 of the parallel four-bar linkage mechanism is increased to achieve better movement precision and lateral rigidity of the parallel four-bar linkage mechanism. The other ends of the upper long rod 12 of the parallel four-bar linkage mechanism and the lower long rod 05 of the parallel four-bar linkage mechanism are respectively connected with the far-end rod 11 of the parallel four-bar linkage mechanism in a rotating way.
As shown in fig. 4 and 5, the fourth rotating shaft 08 is rotatably connected to the distal rod 11 of the parallel four-bar linkage through a bearing, and a rotary encoder is installed at the connection, so as to detect the rotation angle of the fourth rotating shaft 08. The fifth rotating shaft 19 is rotatably connected with the fourth rotating shaft 08, the axial direction of the fifth rotating shaft 19 is perpendicular to the axial direction of the fourth rotating shaft 08, and a rotary encoder 20 is installed at the joint, so that the detection of the rotating angle of the fifth rotating shaft 19 is realized. Sixth pivot 06 axis with fifth pivot 19 rotates to be connected, and the axis direction of sixth pivot 06 is perpendicular with the axis direction of fifth pivot 19, and installs rotary encoder 23 in the junction to the realization is to sixth pivot 06 turned angle's detection. A mechanical switch 07 is fixedly mounted on the sixth shaft 06 to establish a push-button interaction with an operator.
As shown in fig. 1 and 2, the turntable 02, the first driven wheel 04, the second driven wheel 15, the fourth rotating shaft 08, the fifth rotating shaft 19 and the sixth rotating shaft 06 are provided with a limiting device to restrict the rotating range of each rotating shaft. And the base 01 is provided with a limiting screw which realizes the rotation limiting of the rotary table 02 together with a limiting plate arranged on the lower bottom surface of the rotary table 02. Two sides of the turntable 02 are respectively provided with a limiting shoulder, and the limiting shoulders and the limiting grooves on the inner sides of the first driven wheel 04 and the second driven wheel 15 are used for realizing the rotation limiting of the first driven wheel 04 and the second driven wheel 15. The far end rod 11 of the parallel four-bar linkage is provided with a limiting block, and the limiting block and the convex limiting block of the fourth rotating shaft 08 realize the rotation limiting of the fourth rotating shaft 08 together. The restriction of the motion range of the fifth rotating shaft 19 is realized by the limit between the shell of the fourth rotating shaft 08 and the shell 21 of the fifth rotating shaft; and a limiting block is arranged on the inner hole side of the fifth rotating shaft shell 21, and the limiting block and a limiting block convex shoulder arranged on the sixth rotating shaft 06 realize the rotation limiting of the sixth rotating shaft 06.
As shown in fig. 1 and 2, encoders are disposed at rear ends of the turntable motor 17, the first driving motor 16, and the second driving motor 03, and a first encoder 24, a second encoder 20, and a third encoder 23 are respectively mounted on the fourth rotating shaft 08, the fifth rotating shaft 19, and the sixth rotating shaft 06. Therefore, the detection of the rotating angles of the six rotating shafts is realized, and the calculation of the position and the posture of the tail end is further realized. The three-dimensional feedback force can be output through the turntable motor 17, the first driving motor 16 and the second driving motor 03, and a force sense interaction interface is established.
Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (7)
1. A six-degree-of-freedom three-dimensional force feedback mechanism is characterized in that: the hybrid force feedback mechanism realizes the detection of the rotation angle of the six rotating shafts through three motor encoders and three independent encoders, realizes the calculation of the pose of the tail end, and realizes the output of three-dimensional force feedback through the three motors; the six-degree-of-freedom three-dimensional force feedback mechanism comprises a base (01), a rotary table (02), a parallel four-bar linkage mechanism arranged on the rotary table (02) and a three-degree-of-freedom actuator mechanism arranged at the tail end of the parallel four-bar linkage mechanism;
the parallel four-bar linkage includes: a lower long rod (05), a far-end rod (11), an upper long rod (12) and a near-end short rod (14);
the rotary table (02) is arranged on the base (01) through a revolute pair, the rotary table driving motor (17) is fixedly connected with the base (01), and the rotary table driving motor (17) drives the rotary table (02) to rotate through wire transmission;
a first driving motor (16) and a second driving motor (03) are fixedly arranged on the rotary table (02); a supporting shaft (18) is rotatably connected to the turntable (02); a first driven wheel (04) and a lower long rod (05) are fixedly mounted on the supporting shaft (18), and the first driving motor (16) and the first driven wheel (04) are driven by wire transmission; a second driven wheel (15) is rotatably arranged on the supporting shaft (18); the second driven wheel (15) is fixedly connected with the near-end short rod (14), and the second driving motor (03) and the second driven wheel (15) are driven by wire transmission; one end of the near-end short rod (14) is rotatably connected with the upper long rod (12); the other ends of the upper long rod (12) and the lower long rod (05) are respectively connected with the far-end rod (11) in a rotating way; the three driving motors, namely the first driving motor (16), the second driving motor (03) and the turntable driving motor (17), and the corresponding driven wheels thereof are in wire transmission;
the tail end of the far-end rod (11) is fixedly provided with a three-degree-of-freedom actuator mechanism; the three-degree-of-freedom actuator mechanism comprises a fourth rotating shaft (08), a fifth rotating shaft (19) and a sixth rotating shaft (06), which are sequentially connected from a parallel four-connecting-rod far-end rod (11) to the tail end; the fourth rotating shaft (08) is rotatably connected with the far-end rod (11) of the parallel four-bar linkage; the fifth rotating shaft (19) is rotatably connected with the fourth rotating shaft (08), and the axis direction of the fifth rotating shaft (19) is vertical to the axis direction of the fourth rotating shaft (08); the axis of the sixth rotating shaft (06) is rotationally connected with the fifth rotating shaft (19), and the axis direction of the sixth rotating shaft (06) is perpendicular to the axis direction of the fifth rotating shaft (19).
2. The six degree-of-freedom three-dimensional force feedback mechanism of claim 1, wherein: and a first rotary encoder (24) is arranged at the joint of the fourth rotating shaft (08) and the far-end rod (11) of the parallel four-bar linkage.
3. The six degree-of-freedom three-dimensional force feedback mechanism of claim 1, wherein: and the fifth rotating shaft (19) and the fourth rotating shaft (08) are rotatably connected at the joint to be provided with a second rotary encoder (20).
4. The six degree-of-freedom three-dimensional force feedback mechanism of claim 1, wherein: and the axis of the sixth rotating shaft (06) is rotatably connected with the fifth rotating shaft (19) at the joint to form a third rotary encoder (23).
5. The six degree-of-freedom three-dimensional force feedback mechanism of claim 1, wherein: and a mechanical switch (07) is fixedly arranged on the sixth rotating shaft (06).
6. The six degree-of-freedom three-dimensional force feedback mechanism of claim 1, wherein: and the turntable (02), the first driven wheel (04), the second driven wheel (15), the fourth rotating shaft (08), the fifth rotating shaft (19) and the sixth rotating shaft (06) are provided with limiting devices.
7. The six degree-of-freedom three-dimensional force feedback mechanism of claim 1, wherein: the rear ends of the rotary table driving motor (17), the first driving motor (16) and the second driving motor (03) are all provided with encoders, and detection of the rotation angle of each driving motor is achieved.
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| CN201910102765.9A CN109696930B (en) | 2019-02-01 | 2019-02-01 | Six-degree-of-freedom three-dimensional force feedback mechanism |
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| CN201910102765.9A CN109696930B (en) | 2019-02-01 | 2019-02-01 | Six-degree-of-freedom three-dimensional force feedback mechanism |
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| 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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| 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 |
| CN102320040A (en) * | 2011-08-11 | 2012-01-18 | 南昌大学 | Force feedback interactive device for automatically regulating balance of dead weight |
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