CN112497234B - Four-axis force feedback handle and pose mapping method thereof - Google Patents
Four-axis force feedback handle and pose mapping method thereof Download PDFInfo
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- CN112497234B CN112497234B CN202011402284.9A CN202011402284A CN112497234B CN 112497234 B CN112497234 B CN 112497234B CN 202011402284 A CN202011402284 A CN 202011402284A CN 112497234 B CN112497234 B CN 112497234B
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- 238000013507 mapping Methods 0.000 title claims abstract description 15
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 230000000712 assembly Effects 0.000 claims abstract description 13
- 238000000429 assembly Methods 0.000 claims abstract description 13
- 238000013519 translation Methods 0.000 claims description 26
- 230000033001 locomotion Effects 0.000 claims description 24
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 230000004048 modification Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The invention discloses a four-axis force feedback handle and a pose mapping method thereof, and relates to the technical field of force feedback hand controllers; the base assembly comprises a motor bracket and a motor fixed on the motor bracket; the movable arm assembly is rotatably connected with the bracket and is in transmission connection with the motor; the encoder handle comprises a fourth shaft ball handle, an encoder arranged in the fourth shaft ball handle and a roller in transmission connection with the encoder, the fourth shaft ball handle is connected with one ends, far away from the motor support, of the movable arm assemblies, the edges of the roller are exposed out of the fourth shaft ball handle, and when the roller drives the encoder to rotate, the encoder generates pulse signals. On the basis of the triaxial force feedback handle, an encoder handle for controlling the degree of freedom is added, so that the encoder handle becomes precise force feedback equipment with high flexibility, and high-precision translational rotation combined control can be realized.
Description
Technical Field
The invention relates to the technical field of force feedback hand controllers, in particular to a four-axis force feedback handle and a pose mapping method thereof.
Background
The robot technology is widely applied to the fields of production and manufacture, aerospace, medical appliances and the like, and the fields have high requirements on flexible operation of the robot. The virtual reality technology and the augmented reality technology are leading edge technologies of the current world, and forces transmitted in the virtual reality are represented through force feedback equipment, so that operators can feel the forces of the virtual reality.
The force feedback products currently on the market have three, six and seven axis force feedback handles. The three-axis force feedback handle only has three degrees of freedom, so that the three-dimensional coordinate positioning of the robot can be simply realized, and when other degrees of freedom of control are required to be added at the tail end of the robot, the three-axis force feedback handle can not meet the control requirements of the three-axis force feedback handle when the motion such as rotation or expansion is realized. When the robot moves, only one control degree of freedom such as rotation or expansion of the tail end is increased, if a six-axis or seven-axis force feedback handle is selected for operation control, an idle control shaft does not participate in control, so that the difficulty in writing a control program is increased, and the complexity in motion control is increased due to more degrees of freedom in handle operation; and the prices of the six-axis force feedback handle and the seven-axis force feedback handle are also higher, so that waste is generated to a great extent, and the control cost is increased. In addition, the operator cannot make a correct operation response only intuitively, and the pose corresponding relation needs to be considered.
Disclosure of Invention
Therefore, the invention provides the four-axis force feedback handle and the pose mapping method thereof, which can realize high-precision translational rotation combined control, so as to solve the problems that the adoption of the three-axis force feedback handle cannot meet the four-degree-of-freedom control requirement and the adoption of the six-axis or seven-axis force feedback handle control program is difficult to write, the operation is complex and the cost is high due to the fact that the four-degree-of-freedom force feedback handle is not adopted in the prior art, and the problem that the pose corresponding relation needs to be considered during the operation is also solved.
In order to achieve the above object, the present invention provides the following technical solutions:
in a first aspect of the invention, a four-axis force feedback handle includes a base assembly, a movable arm assembly, and an encoder handle;
the base assembly comprises a motor bracket and a motor fixed on the motor bracket;
the movable arm assembly is rotatably connected with the bracket and is in transmission connection with the motor;
the movable arm assemblies are in transmission connection with the motors in a one-to-one correspondence manner;
the encoder handle comprises a fourth shaft ball handle, an encoder arranged in the fourth shaft ball handle and a roller wheel in transmission connection with the encoder, wherein the fourth shaft ball handle is connected with one ends, far away from the motor support, of the movable arm assemblies, the edges of the roller wheel are exposed out of the fourth shaft ball handle, and when the roller wheel drives the encoder to rotate, the encoder generates pulse signals.
Further, the base assembly further comprises a bottom plate, a fixed platform, a rear shell and three motor shells, wherein the fixed platform is vertically fixed on the bottom plate, the rear shell is fixed on one side of the fixed platform, the motor support and the motor are all provided with three, the three motor supports are fixed on the other side of the fixed platform in a circular array mode, the three motors are fixed on the three motor supports in a one-to-one mode, the motor shafts of the motors at the top are horizontally arranged, and the three motor shells are fixed on the fixed platform and cover the three motors in a one-to-one mode.
Further, the movable arm assemblies are provided with three movable arm assemblies, the three movable arm assemblies are in rotatable connection with the three motor brackets in one-to-one correspondence, and the three movable arm assemblies are in transmission connection with the three motors in one-to-one correspondence.
Further, the movable arm assembly comprises a translation shaft round wheel, a first connecting block, a first connecting rod, a second connecting block, a second connecting rod and a lever arm, one end, far away from the fixed platform, of the motor support is provided with a second shaft hole, one side surface of the translation shaft round wheel is provided with a third shaft hole, the third shaft hole and the second shaft hole penetrate through a front three-shaft rotating shaft, one edge of the translation shaft round wheel is an arc edge taking the third shaft hole as a circle center, the motor is in transmission connection with the arc edge of the translation shaft round wheel, the first connecting block is fixed on the translation shaft round wheel, the first connecting block is provided with a fourth shaft hole parallel to the axis of the third shaft hole but not coaxial, the first connecting rod is rotatably penetrated in the fourth shaft hole, the second connecting block is provided with a fifth shaft hole, the second connecting rod is rotatably penetrated in the fifth shaft hole, two ends of the lever arm are respectively connected with the first connecting rod and the second connecting rod, and the lever arm is provided with two lever arms, and the two lever arms are arranged in parallel at intervals.
Further, the movable arm assembly further comprises four pins, the four pins are parallel to each other, two pins are respectively fixed at two ends of the first connecting rod, the other two pins are respectively fixed at two ends of the second connecting rod, two ends of the lever arm are respectively provided with a sixth shaft hole, and the pins penetrate through the sixth shaft holes to enable the lever arm to be connected with the first connecting rod and the second connecting rod.
Further, the movable arm assembly further comprises a movable platform, the movable platform is fixed with the three second connecting blocks, and the three second connecting blocks are uniformly distributed along the edge of the movable platform.
Further, the encoder handle further comprises a ball handle connecting part, one end of the ball handle connecting part is fixed with the fourth shaft ball handle, and the other end of the ball handle connecting part is fixed with the movable platform.
Further, the four-axis force feedback handle further comprises an enabling button for controlling start and stop, and the enabling button is arranged on the outer side of the fourth axis ball handle.
In a second aspect of the present invention, there are three motors of the four-axis force feedback handle according to the first aspect, the motor shafts of the three motors are respectively a J1 axis, a J2 axis and a J3 axis, the encoder handle is a J4 axis, and the encoder handle is used for connecting a driven end tool;
the method comprises the steps that a vertical direction is used as a Z axis, a horizontal direction and a direction pointing to the centers of three motors are used as an X axis, a direction perpendicular to the X axis and the Z axis is used as a Y axis, and under the action of a plurality of motors, the movement of an encoder handle along the X axis, the Y axis and the Z axis corresponds to the X degree of freedom, the Y degree of freedom and the Z degree of freedom respectively, so that the degree of freedom rotating around the X axis is achieved through the encoder handle to be the U degree of freedom;
when the driven end tool needs to have space three-dimensional movement and autorotation four-degree-of-freedom movement, the X degree of freedom, the Y degree of freedom and the Z degree of freedom map the three-dimensional movement of the driven end tool, and the U degree of freedom maps the autorotation of the driven end tool;
when the driven end tool is required to have four degrees of freedom motions of two-dimensional swing, rotation and telescoping, the X degree of freedom maps the telescoping motion of the driven end tool, the Y degree of freedom and the Z degree of freedom map the two-dimensional swing of the driven end tool, and the U degree of freedom maps the rotation of the driven end tool.
The invention has the following advantages:
the four-axis force feedback handle provided by the invention is additionally provided with the encoder handle for controlling the degree of freedom on the basis of the three-axis force feedback handle, the encoder and the roller for controlling the encoder are installed in the fourth axis ball handle, the working principle is similar to that of operating a mouse roller, the encoder is driven to rotate through the sliding of the roller to generate pulse signals, the controller (the controller is in the prior art and can be generally installed in a base assembly) is used for carrying out data conversion to control the gesture of the robot, and after the integral positioning of the robot is finished by means of a plurality of axes (three motors are adopted in the embodiment of the application, the integral positioning of the robot can be understood to be finished by means of the three axes), and the accurate position positioning of the movement working conditions such as rotary expansion and the like of the tail end of the robot is realized by stirring the roller.
According to the pose mapping method of the four-axis force feedback handle, which is designed according to the pose mapping method, when the driven end tool is operated, an operator can make correct operation response only by intuition without considering the corresponding relation of the poses, and the master-slave operation pose mapping mode is called intuition mapping.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those skilled in the art from this disclosure that the drawings described below are merely exemplary and that other embodiments may be derived from the drawings provided without undue effort.
The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the invention, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present invention, should fall within the scope of the invention.
FIG. 1 is a schematic structural diagram of a four-axis force feedback handle according to embodiment 1 of the present invention;
FIG. 2 is a front view of a four-axis force feedback handle provided in embodiment 1 of the present invention;
FIG. 3 is a schematic diagram showing the connection relationship between the base assembly and three movable arm assemblies of the four-axis force feedback handle according to embodiment 1 of the present invention;
FIG. 4 is a schematic view of the base assembly of the four-axis force feedback handle according to embodiment 1 of the present invention (with the rear housing and motor housing removed);
FIG. 5 is a schematic view of the movable arm assembly of the four-axis force feedback handle according to embodiment 1 of the present invention;
FIG. 6 is a schematic diagram of the encoder handle of the four-axis force feedback handle according to embodiment 1 of the present invention;
fig. 7 is a reference view of a pose mapping method of a four-axis force feedback handle according to embodiment 2 of the present invention.
In the figure:
1-a base assembly, 101-a bottom plate, 102-a fixed platform, 103-a rear shell, 104-a motor bracket, 105-a motor, 106-a motor shell and 107-a second shaft hole;
2-movable arm components, 201-translation shaft round wheels, 202-first connecting blocks, 203-first connecting rods, 204-second connecting blocks, 205-second connecting rods, 206-pin shafts, 207-lever arms, 208-third shaft holes and 209-movable platforms;
3-encoder handle, 301-fourth mandrel, 302-mandrel connection, 303-encoder, 304-roller, 305-enable button.
Detailed Description
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms such as "upper", "lower", "left", "right", "middle" and the like are also used in the present specification for convenience of description, but are not intended to limit the scope of the present invention, and the changes or modifications of the relative relationship thereof are considered to be within the scope of the present invention without substantial modification of the technical content.
Example 1
Referring to fig. 1 to 6, embodiment 1 provides a four-axis force feedback handle comprising a base assembly 1, a movable arm assembly 2 and an encoder handle 3.
The base assembly 1 includes a base plate 101, a stationary platform 102, a rear housing 103, a motor bracket 104, a motor 105, and a motor housing 106. The base plate 101 is removably secured to the operating platform or other fixture, such as a bolted connection. The middle part of the bottom plate 101 may be a hollow structure, for example, a larger window is formed or a plurality of small holes are formed. The fixed platform 102 is vertically fixed on the bottom plate 101, can be fixed through bolts, can be fixed through welding or riveting, and can be integrally formed. The rear case 103 is detachably fixed to one side of the fixed platform 102, thereby forming a space in which a controller including a circuit board or a processor, etc. can be disposed. The motor bracket 104 is fixed on the other side of the fixed platform 102, one end of the motor bracket 104, which is close to the fixed platform 102, is provided with a first shaft hole, and one end of the motor bracket 104, which is far away from the fixed platform 102, is provided with a second shaft hole 107, which is parallel to the axis of the first shaft hole. The motor 105 is fixed to one side of the motor bracket 104, and a motor shaft of the motor 105 penetrates out of the first shaft hole and is fixed with a base friction wheel. The motor case 106 is fixed to the fixed platform 102, covers the motor bracket 104 and the motor 105, and exposes the motor shaft, the base friction wheel, and the second shaft hole 107 of the motor 105. The motor bracket 104, the motor 105 and the motor shell 106 are all provided with three motors which are distributed in a circular array (delta-shaped distribution), wherein the motor shaft of the motor 105 at the top is horizontally arranged, and a base friction wheel on the motor shaft of the motor 105 at the top is positioned in the middle of the width direction of the fixed platform 102; the other two motors 105 are in a state that the motors 105 at the top rotate 120 degrees and 240 degrees relative to the circle center of the array; the motor brackets 104 and motor cases 106 are provided in one-to-one correspondence with the motors 105. Because three motors 105 are employed, the base assembly actually comprises a front three-axis assembly including a stationary platen 102, three motor brackets 104, three motors 105 and three base friction wheels, wherein the motor shafts of the three motors 105 are referred to as the J1, J2 and J3 axes, respectively.
The movable arm assembly 2 comprises a translation shaft round wheel 201, a first connecting block 202, a first connecting rod 203, a second connecting block 204, a second connecting rod 205, a pin 206, a lever arm 207 and a movable platform 209. A third shaft hole 208 is formed in one side surface of the translation shaft round wheel 201, and a front three-shaft rotating shaft is arranged through the third shaft hole 208 and the second shaft hole 107 in a penetrating manner, so that the translation shaft round wheel 201 can rotate relative to the motor bracket 104; the edge of the translation shaft round wheel 201 is an arc edge, the arc edge of the translation shaft round wheel 201 takes the third shaft hole 208 as a circle center, the arc edge of the translation shaft round wheel 201 is provided with a translation shaft round wheel groove with equal depth, the width of the translation shaft round wheel groove is slightly larger than that of the base friction wheel, and when the translation shaft round wheel is installed, the rim of the base friction wheel is clung to the bottom of the translation shaft round wheel groove. The first connecting block 202 is fixed to the translational shaft round wheel 201, and in this embodiment, the first connecting block 202 is fixed to one end of the circular arc edge of the translational shaft round wheel 201; the first connecting block 202 is provided with a fourth shaft bore that is parallel to but non-coaxial with the axis of the third shaft bore 208. The first connecting rod 203 is arranged in the fourth shaft hole in a penetrating way, and the first connecting rod and the fourth shaft hole are rotatably connected through a bearing. The second connecting block 204 is provided with a fifth shaft hole, and the fifth shaft hole is parallel to the fourth shaft hole. The second connecting rod 205 is arranged in the fifth shaft hole in a penetrating way, and the second connecting rod and the fifth shaft hole are rotatably connected through a bearing. Two ends of the first connecting rod 203 are respectively provided with a pin shaft 206, two ends of the second connecting rod 205 are respectively provided with a pin shaft 206, and four pin shafts 206 are mutually parallel. The lever arms 207 are arranged in two, the two lever arms 207 are arranged in parallel at intervals, two ends of each lever arm 207 are respectively provided with a sixth shaft hole, four pin shafts 206 are respectively penetrated in the four sixth shaft holes, and the pin shafts 206 are connected with the sixth shaft holes through bearings. The movable platform 209 is connected with three second connecting blocks 204, wherein the three second connecting blocks 204 are uniformly distributed around the movable platform 209.
The transmission form of the motor 105 and the translation shaft round wheel 201 is not limited to friction transmission, the friction wheel is only one example of the transmission form, and the friction wheel can be also changed into a gear through gear transmission, for example, a rack is arranged in a groove or a tooth is arranged on the rim of the translation shaft round wheel 201; moreover, the friction wheel or gear on the motor shaft is not necessarily in direct transmission with the rim of the translation shaft round wheel 201, but also in indirect transmission, whether in friction transmission or gear transmission.
The encoder handle 3 is a J4 spindle assembly comprising a fourth spindle knob 301, a knob connection 302, an encoder 303, a roller 304 and an enable button 305. The fourth shaft ball handle 301 is connected to the movable platform 209 through a ball handle connecting portion 302, that is, one end of the ball handle connecting portion 302 is fixed to the movable platform 209, and the other end is fixed to the fourth shaft ball handle 301. The encoder 303 is integrated within the fourth mandrel 301. The majority of the roller 304 is positioned in the fourth shaft ball handle 301, and a small part of the edge of the roller 304 is exposed outside the fourth shaft ball handle 301, and the roller 304 is in transmission connection with the encoder 303. When the roller 304 drives the encoder 303 to rotate, the encoder 303 generates a pulse signal, and the pulse signal is transmitted to the controller. The controller is communicatively coupled to the encoder 303, either by a wired connection or by a wireless connection.
The controller is electrically connected with the three motors 105 and controls the start and stop, the forward and reverse rotation and the rotation angle of the three motors 105. The J1 shaft, the J2 shaft and the J3 shaft can synchronously rotate under the control of the controller to realize the translation in the front-back direction (the movement in the X-axis direction) or can synchronously rotate to realize the swing in the up-down, left-right direction (the movement in the Y-axis and Z-axis directions), so that the front three-axis assembly can realize the three-dimensional movement. The encoder handle 3 controls the tail end gesture of the robot by manually poking the roller 304 and resolving through the encoder 303, so that the controllable degree of freedom of the robot is increased; the automatic calibration capability provides a guarantee for high positioning accuracy.
The four-axis force feedback handle of the embodiment is mainly used in the application field of robots with high requirements on flexible operation, and realizes remote operation control of robots in space, medical treatment, deep sea, special working occasions and other scenes. The four-axis force feedback handle with four degrees of freedom is designed in a composite way by means of a unique Delta parallel mechanism (namely, the independent rotation of a J1 axis, a J2 axis and a J3 axis is parallel) and a serial rotating mechanism (encoder handle), so that the four-axis force feedback handle becomes precise force feedback equipment with high flexibility, and high-precision translational rotation joint control can be realized. The parallel translation mechanism has higher rigidity and strong output force, the serial rotation mechanism provides larger rotation space, the J4 shaft assembly is structurally innovated on the basis of the tail end operation handle of the existing triaxial force feedback handle, the encoder and the roller are additionally arranged in the fourth shaft ball handle, the roller is manually stirred, and the encoder is used for resolving to control the tail end gesture of the robot, so that the controllable degree of freedom of the robot is increased; the automatic calibration capability provides a guarantee for high positioning accuracy. The mechanical structure is formed by adopting high-strength aviation aluminum alloy through numerical control machining, and key moving parts are all international leading brands. The handle supports various operating system development platforms, the open software platform provides a good secondary development environment, and various control interfaces such as RS232, RS422, USB2.0 and the like are provided for convenient connection.
Example 2
Embodiment 2 provides a pose mapping method of a four-axis force feedback handle as described in embodiment 1, wherein three motors are arranged on the four-axis force feedback handle, motor shafts of the three motors are respectively a J1 axis, a J2 axis and a J3 axis, an encoder handle is a J4 axis, and the encoder handle is used for connecting a driven end tool;
as shown in fig. 7, the vertical direction is taken as a Z axis, the horizontal direction is taken as an X axis, the direction pointing to the centers of the three motors is taken as a Y axis, the directions perpendicular to the X axis and the Z axis are taken as Y axes, and under the action of a plurality of motors, the movement of the encoder handle along the X axis, the Y axis and the Z axis respectively corresponds to the X degree of freedom, the Y degree of freedom and the Z degree of freedom, so that the degree of freedom of rotation around the X axis is realized through the encoder handle is the U degree of freedom;
when the driven end tool needs to have space three-dimensional movement and autorotation four-degree-of-freedom movement, the X degree of freedom, the Y degree of freedom and the Z degree of freedom map the three-dimensional movement of the driven end tool, and the U degree of freedom maps the autorotation of the driven end tool;
when the driven end tool is required to have four degrees of freedom motions of two-dimensional swing, rotation and telescoping, the X degree of freedom maps the telescoping motion of the driven end tool, the Y degree of freedom and the Z degree of freedom map the two-dimensional swing of the driven end tool, and the U degree of freedom maps the rotation of the driven end tool.
The four-axis force feedback handle designed according to the pose mapping method has the advantages that an operator can make a correct operation response only by intuition without considering the pose corresponding relation when operating the driven end tool, and the master-slave operation pose mapping mode is called intuition mapping.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (9)
1. A four-axis force feedback handle, which is characterized by comprising a base component, a movable arm component and an encoder handle;
the base assembly comprises a bottom plate, a fixed platform, a motor support and a motor fixed on the motor support, wherein the middle part of the bottom plate is of a hollow structure, the fixed platform is vertically fixed on the bottom plate, and the motor support is fixed on one side of the fixed platform;
the movable arm assembly is rotatably connected with the bracket and is in transmission connection with the motor;
the movable arm assemblies are in transmission connection with the motors in a one-to-one correspondence manner;
the encoder handle comprises a fourth shaft ball handle, an encoder arranged in the fourth shaft ball handle and a roller wheel in transmission connection with the encoder, wherein the fourth shaft ball handle is connected with one ends, far away from the motor support, of the movable arm assemblies, the edges of the roller wheel are exposed out of the fourth shaft ball handle, and when the roller wheel drives the encoder to rotate, the encoder generates pulse signals.
2. The four-axis force feedback handle of claim 1, wherein the base assembly further comprises a rear housing and three motor housings, wherein the rear housing is fixed on the other side of the fixed platform, the motor brackets and the motors are all provided with three, the three motor brackets are fixed on one side of the fixed platform in a circular array, the three motors are fixed on the three motor brackets in a one-to-one correspondence, the motor shafts of the motors positioned at the top are horizontally arranged, and the three motor housings are fixed on the fixed platform and cover the three motors in a one-to-one correspondence.
3. The four-axis force feedback handle according to claim 2, wherein three movable arm assemblies are provided, wherein the three movable arm assemblies are rotatably connected with the three motor brackets in one-to-one correspondence, and the three movable arm assemblies are in transmission connection with the three motors in one-to-one correspondence.
4. The four-axis force feedback handle according to claim 3, wherein the movable arm assembly comprises a translation shaft round wheel, a first connecting block, a first connecting rod, a second connecting block, a second connecting rod and a lever arm, one end of the motor support, which is far away from the fixed platform, is provided with a second shaft hole, a side surface of the translation shaft round wheel is provided with a third shaft hole, the third shaft hole and the second shaft hole are penetrated with a front three-axis rotating shaft, one edge of the translation shaft round wheel is an arc edge taking the third shaft hole as a center of a circle, the motor is in transmission connection with the arc edge of the translation shaft round wheel, the first connecting block is fixed on the translation shaft round wheel, the first connecting block is provided with a fourth shaft hole which is parallel to the axis of the third shaft hole but is not coaxial, the first connecting rod is rotatably penetrated in the fourth shaft hole, the second connecting block is provided with a fifth shaft hole, the second connecting rod is rotatably penetrated in the fifth shaft hole, two ends of the lever arm are respectively connected with the first connecting rod and the second connecting rod, and the two lever arms are arranged in parallel.
5. The four-axis force feedback handle of claim 4, wherein the movable arm assembly further comprises four pins, the four pins are parallel to each other, two of the pins are respectively fixed at two ends of the first connecting rod, the other two of the pins are respectively fixed at two ends of the second connecting rod, two ends of the lever arm are respectively provided with a sixth shaft hole, and the pins are arranged in the sixth shaft holes in a penetrating manner so that the lever arm is connected with the first connecting rod and the second connecting rod.
6. The four-axis force feedback handle of claim 5 wherein the movable arm assembly further comprises a movable platform, the movable platform is secured to three of the second connection blocks, and the three second connection blocks are evenly distributed along an edge of the movable platform.
7. The four-axis force feedback handle of claim 6 wherein the encoder handle further comprises a knob connecting portion, one end of the knob connecting portion being secured to the fourth shaft knob and the other end of the knob connecting portion being secured to the movable platform.
8. The four-axis force feedback handle of claim 7 further comprising an enable button to control start and stop, the enable button disposed outside of the fourth shaft knob.
9. A method of mapping the pose of a four-axis force feedback handle according to any of claims 1-8, wherein three motors of the four-axis force feedback handle are provided, the motor shafts of the three motors are respectively a J1 axis, a J2 axis and a J3 axis, the encoder handle is a J4 axis, and the encoder handle is used for connecting a driven end tool;
the method comprises the steps that a vertical direction is used as a Z axis, a horizontal direction and a direction pointing to the centers of three motors are used as an X axis, a direction perpendicular to the X axis and the Z axis is used as a Y axis, and under the action of a plurality of motors, the movement of an encoder handle along the X axis, the Y axis and the Z axis corresponds to the X degree of freedom, the Y degree of freedom and the Z degree of freedom respectively, so that the degree of freedom rotating around the X axis is achieved through the encoder handle to be the U degree of freedom;
when the driven end tool needs to have space three-dimensional movement and autorotation four-degree-of-freedom movement, the X degree of freedom, the Y degree of freedom and the Z degree of freedom map the three-dimensional movement of the driven end tool, and the U degree of freedom maps the autorotation of the driven end tool;
when the driven end tool is required to have four degrees of freedom motions of two-dimensional swing, rotation and telescoping, the X degree of freedom maps the telescoping motion of the driven end tool, the Y degree of freedom and the Z degree of freedom map the two-dimensional swing of the driven end tool, and the U degree of freedom maps the rotation of the driven end tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011402284.9A CN112497234B (en) | 2020-12-04 | 2020-12-04 | Four-axis force feedback handle and pose mapping method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011402284.9A CN112497234B (en) | 2020-12-04 | 2020-12-04 | Four-axis force feedback handle and pose mapping method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112497234A CN112497234A (en) | 2021-03-16 |
| CN112497234B true CN112497234B (en) | 2024-02-02 |
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