CN1410232A - Hand controller of six freedom universal isomeric robot - Google Patents
Hand controller of six freedom universal isomeric robot Download PDFInfo
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- CN1410232A CN1410232A CN 02138700 CN02138700A CN1410232A CN 1410232 A CN1410232 A CN 1410232A CN 02138700 CN02138700 CN 02138700 CN 02138700 A CN02138700 A CN 02138700A CN 1410232 A CN1410232 A CN 1410232A
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- 230000007246 mechanism Effects 0.000 claims abstract description 94
- 238000006073 displacement reaction Methods 0.000 claims abstract description 20
- 238000013519 translation Methods 0.000 claims description 23
- 238000001514 detection method Methods 0.000 claims description 4
- 230000014616 translation Effects 0.000 description 17
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 206010070714 Band sensation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000006228 supernatant Substances 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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Abstract
一种6自由度通用型异构式机器人手控器，由手部转动机构、支架和配重组成，支架上设双平行联杆机构，由3～4根联杆构成，联杆上有三个万向节，中间万向节上设角位移传感器，另一联杆中间万向节上设角位移传感器，该机构连有配重连接件，配重连接件设平面，平面与双平行联杆机构的万向节连接，配重设在配重连接件上，双平行联杆机构连有含2个垂直平面的联杆机构连接件，一平面与双平行联杆机构连接，另一平面转动连有至少包括2根联杆的单平行联杆机构，联杆一端与联杆机构连接件转动连接，另一端与连接件转动连接且连接点处同一平面，在单平行联杆机构的任一转动连接点上设角位移传感器，在连接件上有与连接点平行的平面，手部转动机构设在该平面上。
A 6-degree-of-freedom general-purpose heterogeneous robot hand controller, which is composed of a hand rotation mechanism, a bracket and a counterweight. The bracket is equipped with a double parallel linkage mechanism, which is composed of 3 to 4 linkages, and there are three linkages on the linkage. The universal joint, the angular displacement sensor is set on the middle universal joint, and the angular displacement sensor is set on the middle universal joint of the other link. The universal joint connection of the mechanism, the counterweight is set on the counterweight connecting piece, the double parallel link mechanism is connected with the link mechanism connecting piece with 2 vertical planes, one plane is connected with the double parallel link mechanism, and the other plane rotates A single parallel linkage mechanism with at least 2 linkages, one end of the linkage is rotatably connected to the connecting piece of the linkage mechanism, and the other end is rotatably connected to the connecting piece and the connection points are on the same plane. An angular displacement sensor is arranged on the rotating connection point, and a plane parallel to the connection point is arranged on the connecting piece, and the 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 are arranged on every link rod, on the universal joint that occupies the link rod centre, be provided with and detect the wherein angular displacement sensor 3 of one-dimensional translation, occupying the angular displacement sensor 4 that is provided with another dimension translation of detection on the middle universal joint of another link rod, two parallel linkage mechanism 8 is connected with counterweight connector 5 by being positioned at its 2DOF universal joint on one side, on this counterweight connector 5, be provided with the plane, this plane is connected with the above-mentioned 2DOF universal joint that is positioned at one side of two parallel linkage mechanisms 8, counterweight 2 is located on the counterweight connector 5, two parallel linkage mechanism by the position thereon the 2DOF universal joint of another side connect link mechanism connector 7, on this link mechanism connector 7, be provided with 2 orthogonal planes, wherein the 2DOF universal joint of another side is 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 being rotationally connected a little, single parallel linkage mechanism 9 arbitrary be provided with the angular displacement sensor 11 that is used to detect again one-dimensional translation, be provided with on connector 6 and parallel plane plane, single parallel mechanism tie point place, hand rotating mechanism 10 is located on this plane.
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
Claims (6)
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 are arranged on every link rod, on the universal joint that occupies the link rod centre, be provided with and detect the wherein angular displacement sensor of one-dimensional translation (3), occupying the angular displacement sensor (4) that is provided with another dimension translation of detection on the middle universal joint of another link rod, two parallel linkage mechanisms (8) are connected with counterweight connector (5) by being positioned at its 2DOF universal joint on one side, on this counterweight connector (5), be provided with the plane, this plane is connected with the above-mentioned 2DOF universal joint that is positioned at one side of two parallel linkage mechanisms (8), counterweight (2) is located on the counterweight connector (5), two parallel linkage mechanism by the position thereon the 2DOF universal joint of another side connect link mechanism connector (7), on this link mechanism connector (7), be provided with 2 orthogonal planes, wherein a plane is connected with the 2DOF universal joint that another side is gone up by 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 being rotationally connected a little, single parallel linkage mechanism (9) arbitrary be provided with the angular displacement sensor (11) that is used to detect again one-dimensional translation, be provided with on connector (6) and parallel plane plane, single parallel mechanism tie point place, hand rotating mechanism (10) is located on this plane.
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.
6, according to claim 2, the manual device of the universal isomery formula of 3 or 5 described 6DOFs robot, it is characterized in that occupying on the link rod interposition universal joint in two parallel linkage mechanism and be provided with one-dimensional translation force feedback motor (20), 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).
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 true CN1410232A (en) | 2003-04-16 |
| CN1206082C 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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| CN (1) | CN1206082C (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101633169B (en) * | 2008-07-24 | 2012-09-26 | 东南大学 | Three-degree-of-freedom force sensing hand controller |
| CN102825601A (en) * | 2012-09-13 | 2012-12-19 | 天津大学 | Anthropomorphic six-degree-of-freedom robot gravitational equilibrium method |
| CN102897540A (en) * | 2012-08-13 | 2013-01-30 | 伊洪良 | Stacking machine |
| CN103786156A (en) * | 2014-01-21 | 2014-05-14 | 西北工业大学 | Space teleoperation hand controller |
| CN104027172A (en) * | 2014-06-23 | 2014-09-10 | 苏州康多机器人有限公司 | Fully-passive six-degree-of-freedom main manipulator |
| 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 |
| CN105215992A (en) * | 2014-06-24 | 2016-01-06 | 东南大学常州研究院 | For the multiple degrees of freedom power feel feedback device of man-machine interaction |
| CN106214259A (en) * | 2005-01-24 | 2016-12-14 | 直观外科手术操作公司 | The modular manipulator support of robotic surgery |
| CN110900558A (en) * | 2019-11-08 | 2020-03-24 | 上海交通大学 | A master-end robot system suitable for robot master-slave teleoperation |
| CN113655719A (en) * | 2021-09-01 | 2021-11-16 | 东南大学 | A dynamic error modeling and compensation method for feedback force of a force feedback device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102642209B (en) * | 2012-04-06 | 2014-06-18 | 东南大学 | Seven-degree of freedom force feedback hand controller measurement and control system |
-
2002
- 2002-11-29 CN CN 02138700 patent/CN1206082C/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106214259A (en) * | 2005-01-24 | 2016-12-14 | 直观外科手术操作公司 | The modular manipulator support of robotic surgery |
| CN101633169B (en) * | 2008-07-24 | 2012-09-26 | 东南大学 | Three-degree-of-freedom force sensing hand controller |
| CN102897540B (en) * | 2012-08-13 | 2015-11-18 | 肇庆三向教学仪器制造有限公司 | A kind of piler |
| CN102897540A (en) * | 2012-08-13 | 2013-01-30 | 伊洪良 | Stacking machine |
| CN102825601A (en) * | 2012-09-13 | 2012-12-19 | 天津大学 | Anthropomorphic six-degree-of-freedom 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 |
| CN104027172A (en) * | 2014-06-23 | 2014-09-10 | 苏州康多机器人有限公司 | Fully-passive six-degree-of-freedom main manipulator |
| 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 |
| CN105215992A (en) * | 2014-06-24 | 2016-01-06 | 东南大学常州研究院 | For the multiple degrees of freedom power feel feedback device of man-machine interaction |
| CN110900558A (en) * | 2019-11-08 | 2020-03-24 | 上海交通大学 | A master-end robot system suitable for robot master-slave teleoperation |
| 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 |
| CN113655719A (en) * | 2021-09-01 | 2021-11-16 | 东南大学 | A dynamic error modeling and compensation method for feedback force of a force feedback device |
| CN113655719B (en) * | 2021-09-01 | 2023-11-17 | 东南大学 | A feedback force dynamic error modeling and compensation method for force feedback devices |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1206082C (en) | 2005-06-15 |
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