CN1206082C - Hand controller of six freedom universal isomeric robot - Google Patents
Hand controller of six freedom universal isomeric robot Download PDFInfo
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- CN1206082C CN1206082C CN 02138700 CN02138700A CN1206082C CN 1206082 C CN1206082 C CN 1206082C CN 02138700 CN02138700 CN 02138700 CN 02138700 A CN02138700 A CN 02138700A CN 1206082 C CN1206082 C CN 1206082C
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Abstract
The present invention relates to a hand controller for a six-freedom universal isomeric robot, which is composed a hand rotating mechanism, a bracket and a balance weight, wherein a dual-parallel link mechanism composed of 3 to 4 links is arranged on the bracket, wherein one link is provided with three universal joints, an angular displacement sensor is arranged on the middle universal joint, and an angular displacement sensor is arranged on the middle universal joint of another link; the mechanism is connected with a balance weight connecting piece, and the balance weight connecting piece is provided with a plane which is connected with the universal joints of the dual-parallel link mechanism; the balance weight is arranged on the balance weight connecting piece, the dual-parallel link mechanism is provided with a link mechanism connecting piece with two perpendicular planes, one plane is connected with the dual-parallel link mechanism, and the other plane is in rotary connection with a single-parallel link mechanism at least with two links; one end of each of the links is in rotary connection with the link mechanism connecting piece, and the other end of each of the links is in rotary connection with the connecting piece and the connecting points are positioned in the same plane; any rotary connecting point of the single-parallel link mechanism is provided with an angular displacement sensor, the connecting piece is provided with a plane which is parallel to the connecting points, and hand rotating mechanism is arranged on the plane.
Description
One, technical field
The present invention relates to the manual device of the universal isomery formula of human-computer interface device, especially 6DOF robot of robot control.
Two, background technology
Along with the extensive use of interactive teleoperation robot, the human-computer interface device that needs are a large amount of with power feel feedback effect.The manual device of data glove and robot is the human-computer interface device of two kinds of common teleoperation robots, because the variation that data glove can't be measured the human arm joint, and lack effective power feel feedback, therefore, the manual device of robot is the most effective human-computer interface device of realizing teleoperation robot control, it follows the tracks of the motion of staff on the one hand as the virtual machine hand in control instruction control manipulator or the virtual reality by the positional information of measure operator hand, on the other hand, power feel and tactile data that robot is fed back convert power or the moment that directly acts on staff to, make the operator be created in the power feel/sense of touch telepresenc effect that machine far away is manually done " on the spot in person " of scene or virtual robot working site, thereby realize control, perhaps in virtual environment, produce the real impression that touches robot band sensation.The manual device of robot can be divided into two kinds of isomorphism formula and isomery formulas, and existing hand controller mostly is the isomorphism formula, and isomorphism formula hand controller has the identical structure and the free degree with manipulator far away, takes the joint---the type of drive in joint.Though robot isomorphism formula hand controller control is simple, the robot control that it can only be used for specific model lacks versatility.Therefore, universal hand controller all adopts the isomery mode different with the robot architecture, and existing isomery formula hand controller has form of a stroke or a combination of strokes operation lever structure, parallel-connection structure, series/parallel mixed structure, incorporate closed chain formula structure and based on the isomery formula hand controller of Delta mechanism.The shortcoming of preceding 4 kinds of isomery formula hand controllers is to exist translation and the motion coupling between the rotation and the coupling of power that can't overcome, a kind of isomery formula hand controller shortcoming based on Delta mechanism in back is that working space is little, can't overcomes the influence of gravity, and controls complicated.
Three, technology contents
Technical problem the invention provides a kind of manual device of the universal isomery formula of 6DOF robot that helps improving certainty of measurement, and it can eliminate 3 dimension translations and 3 couplings of tieing up between rotating from structure itself.
The manual device of the universal isomery formula of a kind of 6DOF of technical scheme robot, by hand driving mechanism 10, support 1 and counterweight 2 are formed, on support 1, be provided with two parallel linkage mechanisms 8, this pair parallel linkage mechanism 8 is made of 3～4 link rods, three 2DOF universal joints that can center on Z axle and Y-axis rotation are arranged on every link rod, on the universal joint that occupies the link rod centre, be provided with and detect the angular displacement sensor 3 of Y to translation, on the universal joint that occupies another link rod centre, be provided with and detect the angular displacement sensor 4 of Z to translation, two parallel linkage mechanism 8 is connected with counterweight connector 5 by being positioned at its Wei Rao Z axle and 2DOF universal joint of rotating of Y-axis on one side, on this counterweight connector 5, be provided with the plane, this plane is connected with Wei Rao the Z axle on above-mentioned one side that is positioned at two parallel linkage mechanisms 8 and the 2DOF universal joint that Y-axis is rotated, counterweight 2 is located on the counterweight connector 5, Wei Rao the Z axle of another side and the 2DOF universal joint that Y-axis is rotated are connected link mechanism connector 7 thereon by the position in two parallel linkage mechanism, on this link mechanism connector 7, be provided with 2 orthogonal planes, wherein Wei Rao the Z axle of another side and the 2DOF universal joint that Y-axis is rotated are connected in a plane and the two parallel linkage mechanisms 8, on another plane, be rotatably connected to single parallel linkage mechanism 9, list parallel linkage mechanism 9 is rotatably connected to connector 6 again, this list parallel linkage mechanism 9 comprises 2 link rods at least, one end of these link rods and another plane of above-mentioned link mechanism connector 7 are rotationally connected, the other end of link rod and connector 6 are rotationally connected and tie point is positioned at same plane, on single parallel linkage mechanism 9 arbitrary is rotationally connected a little, be provided with and be used to detect the angular displacement sensor 11 of X to translation, on connector 6, be provided with and parallel plane plane, single parallel mechanism tie point place, hand rotating mechanism 10 is located on this plane, be provided with one-dimensional translation force feedback motor (20) on the above-mentioned link rod interposition universal joint that occupies in two parallel linkage mechanism, be provided with another dimension translation force feedback motor (21) in the middle of another root link rod on universal joint occupying, on being rotationally connected a little, single parallel linkage mechanism arbitrary be provided with again one-dimensional translation force feedback motor (22), at three rotatable parts (12 of hand rotating mechanism (10), 13 and 14) be respectively equipped with moment feedback motor (23 on, 24 and 25).
Beneficial effect (1) the present invention realizes three-dimensional translating by single, double parallel linkage mechanism, and realize Three dimensional rotation by the hand rotating mechanism, make translation and rotate and can not be coupled, therefore, tie up translations and 3 couplings of tieing up between rotating from the structure supernatant except 3, center of gravity of the present invention falls within on the support, has avoided gravity to influence of the present invention, helps the raising of certainty of measurement.This technical scheme of the present invention combines with the measure of force feedback motor technology, the present invention is become have the hand controller of force feedback function, it can avoid position measurement and power feel in the reproducing control process translation with rotate between complicated coupled relation, improve the authenticity of certainty of measurement and power feel perception.(2) technical scheme of parallel linkage mechanism is compared with original Δ one mechanism and to be had less but the advantage that working space is bigger of volume.(3) hand rotating mechanism mutually vertical with 3 and that rotatable parts can close rotation constitute of the present invention has changed spherical rotating mechanism of the prior art, have easy to operate, not only can realize the moment feedback function of wrist, and the moment that can realize finger-joint is fed back kinetic energy, especially after the present invention has adopted the technical measures of torque motor, make the present invention become force feedback hand controlled device, and said structure have the advantage of being convenient to control motor realizable force feedback.(4) after the present invention adopts the fingerstall structure that the same dimension of an opposing connection rotates, make the present invention not only can control the motion of manipulator, and can directly control the extracting campaign of mechanical claw, job tasks such as the people's that is particularly suitable for operating machine grasping, stitching.
Four, description of drawings
Fig. 1 is the structural representation of the embodiment of the invention.
Fig. 2 is the structural representation of the two parallel linkage mechanism for implementing examples of the present invention.
Fig. 3 is the structural representation of two another embodiment of parallel linkage mechanism of the present invention.
Fig. 4 is the structural representation of the single parallel linkage mechanism for implementing of the present invention example.
Fig. 5 is the structural representation of hand rotating mechanism embodiment of the present invention.
Fig. 6 is the structural representation of another embodiment of hand rotating mechanism of the present invention.
" Δ " mark represents that this place maintains static among the figure, specifically can adopt the mode or other the fixed connected modes that link to each other with support.
Five, specific embodiments
Embodiment 1 present embodiment relates to the manual device of the universal isomery formula of a kind of 6DOF robot, by hand driving mechanism 10, support 1 and counterweight 2 are formed, it is characterized in that on support 1, being provided with two parallel linkage mechanisms 8, this pair parallel linkage mechanism 8 is made of 3～4 link rods, three 2DOF universal joints that can center on Z axle and Y-axis rotation are arranged on every link rod, on the universal joint that occupies the link rod centre, be provided with and detect the angular displacement sensor 3 of Y to translation, on the universal joint that occupies another link rod centre, be provided with and detect the angular displacement sensor 4 of Z to translation, two parallel linkage mechanism 8 is connected with counterweight connector 5 by being positioned at its Wei Rao Z axle and 2DOF universal joint of rotating of Y-axis on one side, on this counterweight connector 5, be provided with the plane, this plane is connected with Wei Rao the Z axle on above-mentioned one side that is positioned at two parallel linkage mechanisms 8 and the 2DOF universal joint that Y-axis is rotated, counterweight 2 is located on the counterweight connector 5, counterweight connector 5 can constitute integral body with counterweight 2, can adopt and directly on counterweight, establish a plane and be connected with universal joint by this plane, counterweight connector 5 also can adopt the branch body structure with counterweight 2, can adopt and on counterweight connector 5, establish a screw rod and counterweight 2 is revolved thereon, Wei Rao the Z axle of another side and the 2DOF universal joint that Y-axis is rotated are connected link mechanism connector 7 thereon by the position in two parallel linkage mechanism, on this link mechanism connector 7, be provided with 2 orthogonal planes, wherein the 2DOF universal joint that another Wei Rao Z axle that connects and Y-axis are rotated in a plane and the two parallel linkage mechanisms 8 is connected, on another plane, be rotatably connected to single parallel linkage mechanism 9, list parallel linkage mechanism 9 is rotatably connected to connector 6 again, this list parallel linkage mechanism 9 comprises 2 link rods at least, one end of these link rods and another plane of above-mentioned link mechanism connector 7 are rotationally connected, the other end of these link rods and connector 6 are rotationally connected and tie point is positioned at same plane, on single parallel linkage mechanism 9 arbitrary is rotationally connected a little, be provided with and be used to detect the angular displacement sensor 11 of X to translation, on connector 6, be provided with and parallel plane plane, single parallel mechanism tie point place, hand rotating mechanism 10 is located on this plane, hand rotating mechanism 10 comprises 3 rotatable parts 12,13,14, these 3 rotatable parts 12,13,14 is mutually vertical and be rotationally connected, at 3 rotatable parts 12,13, be respectively equipped with angular displacement sensor 15 on 14,16 and 17, one of them rotatable parts is " U " shape framework, two rotatable parts are respectively rotating shaft 131 and 141 in addition, are fixed with fingerstall on the rotatable parts 14.
Claims (5)
1, the manual device of the universal isomery formula of a kind of 6DOF robot, by hand rotating mechanism (10), support (1) and counterweight (2) are formed, it is characterized in that on support (1), being provided with two parallel linkage mechanisms (8), this pair parallel linkage mechanism (8) is made of 3～4 link rods, three 2DOF universal joints that can center on Z axle and Y-axis rotation are arranged on every link rod, on the universal joint that occupies the link rod centre, be provided with and detect the angular displacement sensor (3) of Y to translation, on the universal joint that occupies another link rod centre, be provided with and detect the angular displacement sensor (4) of Z to translation, two parallel linkage mechanisms (8) are connected with counterweight connector (5) by being positioned at its Wei Rao Z axle and 2DOF universal joint of rotating of Y-axis on one side, on this counterweight connector (5), be provided with the plane, this plane is connected with Wei Rao the Z axle on above-mentioned one side that is positioned at two parallel linkage mechanisms (8) and the 2DOF universal joint that Y-axis is rotated, counterweight (2) is located on the counterweight connector (5), Wei Rao the Z axle of another side and the 2DOF universal joint that Y-axis is rotated are connected link mechanism connector (7) thereon by the position in two parallel linkage mechanism, on this link mechanism connector (7), be provided with 2 orthogonal planes, wherein Wei Rao the Z axle of another side is gone up and 2DOF universal joint that Y-axis is rotated is connected by a plane and two parallel linkage mechanisms (8), on another plane, be rotatably connected to single parallel linkage mechanism (9), single parallel linkage mechanism (9) is rotatably connected to connector (6) again, this list parallel linkage mechanism (9) comprises 2 link rods at least, another plane of one end of these link rods and above-mentioned link mechanism connector (7) is rotationally connected, the other end of these link rods and connector (6) are rotationally connected and tie point is positioned at same plane, on single parallel linkage mechanism (9) arbitrary is rotationally connected a little, be provided with and be used to detect the angular displacement sensor (11) of X to translation, on connector (6), be provided with and parallel plane plane, single parallel mechanism tie point place, hand rotating mechanism (10) is located on this plane, be provided with one-dimensional translation force feedback motor (20) on the above-mentioned link rod interposition universal joint that occupies in two parallel linkage mechanism, be provided with another dimension translation force feedback motor (21) in the middle of another root link rod on universal joint occupying, on being rotationally connected a little, single parallel linkage mechanism arbitrary be provided with again one-dimensional translation force feedback motor (22), at three rotatable parts (12 of hand rotating mechanism (10), 13 and 14) be respectively equipped with moment feedback motor (23 on, 24 and 25).
2, the manual device of the universal isomery formula of 6DOF according to claim 1 robot, it is characterized in that hand rotating mechanism (10) comprises 3 rotatable parts (12,13,14), these 3 rotatable parts (12,13,14) are mutually vertical and be rotationally connected, and are respectively equipped with angular displacement sensor (15,16 and 17) on 3 rotatable parts (12,13,14).
3, the manual device of the universal isomery formula of 6DOF according to claim 2 robot is characterized in that one of them rotatable parts is " U " shape framework, and two rotatable parts are respectively rotating shaft (131 and 141) in addition.
4, according to the manual device of claim 2 or the universal isomery formula of 3 described 6DOFs robot, its feature is fixed with fingerstall on rotatable parts (14).
5, the manual device of the universal isomery formula of 6DOF according to claim 2 robot, it is characterized in that rotatable parts (12) are " U " shape framework, another rotatable parts (14) are made up of 2 rotating shafts (141 and 142), are fixed with fingerstall (18 and 19) in rotating shaft (141 and 142) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02138700 CN1206082C (en) | 2002-11-29 | 2002-11-29 | Hand controller of six freedom universal isomeric robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02138700 CN1206082C (en) | 2002-11-29 | 2002-11-29 | Hand controller of six freedom universal isomeric robot |
Publications (2)
| Publication Number | Publication Date |
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| CN1410232A CN1410232A (en) | 2003-04-16 |
| CN1206082C true CN1206082C (en) | 2005-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 02138700 Expired - Fee Related CN1206082C (en) | 2002-11-29 | 2002-11-29 | Hand controller of six freedom universal isomeric robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102642209A (en) * | 2012-04-06 | 2012-08-22 | 东南大学 | Seven-degree of freedom force feedback hand controller measurement and control system |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7763015B2 (en) * | 2005-01-24 | 2010-07-27 | Intuitive Surgical Operations, Inc. | Modular manipulator support for robotic surgery |
| CN101633169B (en) * | 2008-07-24 | 2012-09-26 | 东南大学 | Three-degree-of-freedom force sensing hand controller |
| CN102807102A (en) * | 2012-08-13 | 2012-12-05 | 伊洪良 | Stacker |
| CN102825601B (en) * | 2012-09-13 | 2016-03-30 | 天津大学 | A kind of anthropomorphic formula 6DOF robot gravitational equilibrium method |
| CN104626135A (en) * | 2013-11-12 | 2015-05-20 | 宁夏巨能机器人系统有限公司 | Bearing inner ring line four-shaft mechanical hand |
| CN103786156A (en) * | 2014-01-21 | 2014-05-14 | 西北工业大学 | Space teleoperation hand controller |
| CN104027172B (en) * | 2014-06-23 | 2016-08-24 | 苏州康多机器人有限公司 | A kind of full passive-type six degree of freedom main manipulator |
| CN105215992B (en) * | 2014-06-24 | 2017-03-08 | 东南大学常州研究院 | Multiple degrees of freedom power for man-machine interaction feels feedback device |
| CN110900558B (en) * | 2019-11-08 | 2023-03-14 | 上海交通大学 | Master-end robot system suitable for master-slave teleoperation of robot |
| CN113655719B (en) * | 2021-09-01 | 2023-11-17 | 东南大学 | Feedback force dynamic error modeling and compensating method of force feedback device |
-
2002
- 2002-11-29 CN CN 02138700 patent/CN1206082C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102642209A (en) * | 2012-04-06 | 2012-08-22 | 东南大学 | Seven-degree of freedom force feedback hand controller measurement and control system |
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| CN1410232A (en) | 2003-04-16 |
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