CN204428164U - A kind of seven freedom force feedback remote operating hands of switchable type - Google Patents
A kind of seven freedom force feedback remote operating hands of switchable type Download PDFInfo
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- CN204428164U CN204428164U CN201520045144.9U CN201520045144U CN204428164U CN 204428164 U CN204428164 U CN 204428164U CN 201520045144 U CN201520045144 U CN 201520045144U CN 204428164 U CN204428164 U CN 204428164U
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Abstract
The utility model discloses a kind of seven freedom force feedback remote operating hands of switchable type, belong to mechanical hand technical field, comprise clamping device, serial mechanism, parallel institution and the sphere operating mechanism that can be arranged on parallel institution; Described clamping device comprises clamping device, grip slipper, helix swiveling plate, encoder I, direct current generator I.The clamping device of this utility model operator, serial mechanism is all connected by steel wire drive with parallel institution, and connect wire wheel driving mechanism and the force feedback output of motor realization in 7 degree of freedom by steel wire rope, steel wire drive also ensures that while ensureing motion smoothness the amplification of feedback force exports, force feedback can be applied respectively in 7 degree of freedom, operate more flexible, can be used as micro-wound operation robot General Main operator, implement various complex operations, improve reliability and the suitability of remote operating force feedback equipment, avoid existing six degree of freedom operator problem, the problem includes: the less problem of feedback force.
Description
Technical field
This utility model relates to a kind of force feedback operator, and particularly a kind of remote operating of micro-wound operation robot controls hands, belongs to operator technical field.
Background technology
Minimally Invasive Surgery because its wound face is little, recover soon for patient brings very good surgical outcome and be widely used.But, Minimally Invasive Surgery due to working place limited, the motility of hands reduces, and operating time is longer, and doctor easily produces fatigue and causes shake to cause operate miss.Remote operating minimally-invasive surgery robot system makes doctor can complete Minimally Invasive Surgery by robot, the feeling of fatigue helping filtering doctor when performing the operation because long-time operation operating theater instruments causes by three-dimensional imaging and computer control system or hand shake the maloperation produced, and improve stability and the precision of operation technique.In traditional Minimally Invasive Surgery, doctor obtains tactile data by operating theater instruments and contact tissue, thus measures organizational attribution, assessment anatomical structure and then implement safe operation behavior.But in existing surgical robot system, there is main manipulator and lack the problem that enough force feedback degree of freedom and mode of operation do not meet ergonomics, doctor cannot obtain enough operation tool ends and the contact force in affected part, and the Clinical practice constraining operating robot is worth.The PHANTOM system of Sensable company of the U.S. has the space of 6 degree of freedom and the force feedback dimension of 3 degree of freedom, there is good static characteristic and higher dynamic responding speed, but the feedback force of this equipment is less, the demand of micro-wound operation robot in power feels navigation cannot be met.Omega series power/haptic apparatus of Force Dimension company adopts parallel-connection structure achieve larger work space, active force output and reproduce rigidity, but there is mode of operation and do not meet ergonomics, long-time operation easily causes wrist tired, and distance practical clinical also has distance.
Utility model content
In view of this, the purpose of this utility model is to overcome above-mentioned deficiency, provides a kind of seven freedom force feedback remote operating hands of switchable type, by serial parallel mechanism and traditional instruments operating mechanism, allow doctor's unrestricted choice mode of operation, improve reliability and the suitability of remote operating force feedback equipment.
The purpose of this utility model is achieved through the following technical solutions:
The seven freedom force feedback remote operating hands of a kind of switchable type of the present utility model, comprise clamping device, serial mechanism, parallel institution and sphere operating mechanism, described clamping device comprises clamping device, grip slipper, helix swiveling plate, encoder I, direct current generator I, described clamping device is slidably connected by guide post and helix swiveling plate, described helix swiveling plate and grip slipper are rotationally connected, and be connected with an output shaft of direct current generator I by steel wire rope, described helix swiveling plate and Steel rope drive mechanism axes intersect, another output shaft of direct current generator is connected with encoder I,
Described serial mechanism comprises turning arm I, turning arm II, wire wheel driving mechanism I, wire wheel driving mechanism II, wire wheel driving mechanism III, encoder II, encoder III, encoder IV, direct current generator II, direct current generator III, direct current generator IV, described wire wheel driving mechanism I is connected with grip slipper, described wire wheel driving mechanism I is rotationally connected with turning arm I, and be connected with an output shaft of direct current generator II by steel wire rope, described wire wheel driving mechanism II is connected with turning arm I, described wire wheel driving mechanism II is rotationally connected with turning arm II, and be connected with an output shaft of direct current generator III by steel wire rope, described wire wheel driving mechanism III is connected with turning arm II, and be connected with direct current generator IV by steel wire rope, described turning arm II is rotationally connected with connecting platform, and another output shaft of described direct current generator II is connected with encoder II, another output shaft of direct current generator III is connected with encoder III, another output shaft of direct current generator IV is connected with encoder IV, the axes intersect of described wire wheel driving mechanism I and wire wheel driving mechanism II and wire wheel driving mechanism III,
Described parallel institution comprises connecting platform, connecting rod I, connecting rod II, connecting rod III, wire wheel driving mechanism IV, wire wheel driving mechanism V, wire wheel driving mechanism VI, direct current generator V, direct current generator VI, direct current generator VII, Connection Block I, Connection Block II, Connection Block III, connecting rod I, connecting rod II and connecting rod III are rotationally connected with connecting platform, described connecting rod I is rotationally connected with wire wheel driving mechanism IV, described connecting rod II is rotationally connected with wire wheel driving mechanism V, described connecting rod III is rotationally connected with wire wheel driving mechanism VI, described wire wheel driving mechanism IV is rotationally connected with Connection Block I, and be connected with direct current generator V by steel wire rope, described wire wheel driving mechanism V is rotationally connected with Connection Block II, and be connected with direct current generator VI by steel wire rope, described wire wheel driving mechanism VI is rotationally connected with Connection Block III, and be connected with direct current generator VII by steel wire rope,
Described sphere operating mechanism comprises bracing frame I, bracing frame II, sphere semicircle, apparatus fixture, shaft coupling, apparatus driving device and gripping apparatus, described gripping apparatus and bracing frame I are rotationally connected, support frame as described above II and bracing frame I are rotationally connected, described gripping apparatus is slidably connected by apparatus fixture and sphere semicircle, and described apparatus driving device and gripping apparatus are rotationally connected.
Further, described operator gripper mechanism grips device comprises guide post, grip shank, Ring put around finger for massage of cavity of human body, described helix swiveling plate has spiral hollow groove, has gathering sill, be slidably connected with guide post bottom described grip slipper;
Further, described wire wheel driving mechanism I, wire wheel driving mechanism II, wire wheel driving mechanism III are semicircle groove structure, and described turning arm I, turning arm II, connecting platform are provided with spacer pin.
Further, described sphere operating mechanism is connected with connecting platform.
Advantageous Effects of the present utility model is:
1, the clamping device of operator of the present utility model, serial mechanism is all connected by steel wire drive with parallel institution, and connect wire wheel driving mechanism and the force feedback output of motor realization in 7 degree of freedom by steel wire rope, steel wire drive also ensures that while ensureing motion smoothness the amplification of feedback force exports, force feedback can be applied respectively in 7 degree of freedom, operate more flexible, can be used as micro-wound operation robot General Main operator, implement various complex operations, improve reliability and the suitability of remote operating force feedback equipment, avoid existing six degree of freedom operator problem, the problem includes: the less problem of feedback force, meanwhile, the work space of this operator is 105x80x180mm, and configuration space is 180 ° of x180 ° of x150 °, compact conformation, and good rigidity, be not easy the problem causing wrist fatigue, the life-span is higher, and use cost is low.
2, this utility model is by the switching of serial parallel mechanism and sphere operating mechanism, freely can switch the control mode of series-parallel operation mode and traditional Minimally Invasive Surgery.
3, clamping device of the present utility model realize opponent clamp subtended angle control while, power hands trapping human organized drives helix swiveling plate to rotate by motor and reflects, allow holding piece produce reverse power, the bottom of grip slipper is provided with gathering sill, has coordinated sports limiting with guide post.
4, the grip slipper of clamping device of the present utility model, the turning arm I of serial mechanism, turning arm II form three joints, and the axes intersect in three joints is in a bit.
5, clamping device of the present utility model, serial mechanism and parallel institution all realize motion by steel wire drive, are coordinated and improve driving torque, thus strengthen the size of feedback force by wire wheel driving mechanism and motor.
Other advantage of the present utility model, target and feature will be set forth to a certain extent in the following description, and to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, or can be instructed from practice of the present utility model.Target of the present utility model and other advantage can by description below, claims, and in accompanying drawing, specifically noted structure realizes and obtains.
Accompanying drawing explanation
In order to make the purpose of this utility model, technical scheme and advantage clearly, below in conjunction with accompanying drawing, this utility model is described in further detail, wherein:
Fig. 1 is the first example example structural representation of this utility model seven freedom remote operating hands;
Fig. 2 is the second example example structural representation of this utility model seven freedom remote operating hands;
Fig. 3 is the perspective view of clamping device;
Fig. 4 is the perspective view of serial mechanism;
Fig. 5 is the perspective view of parallel institution;
Fig. 6 is the perspective view of sphere operating mechanism.
Reference numeral: 1-clamping device; 1-1-clamping device; 1-2-grip slipper; 1-3-helix swiveling plate, 1-4-encoder I; 1-5-direct current generator I; 1-1-1-guide post; 1-1-2-grip shank; 1-1-3-Ring put around finger for massage of cavity of human body; 2-serial mechanism; 2-1-Steel rope drive mechanism; 2-1-turning arm I; 2-2-turning arm II; 2-3-wire wheel driving mechanism I; Steel 2-4-silk actuation II; 2-5-wire wheel driving mechanism III; 2-6-encoder II; 2-7-encoder III; Compile 2-8-code device IV; 2-9-direct current generator II; 2-10-direct current generator III; 2-11-direct current generator IV; 3-parallel institution; 3-1-connecting platform; 3-2-connecting rod I; 3-3-connecting rod II; 3-4-connecting rod III; 3-5-wire wheel driving mechanism IV; 3-6-wire wheel driving mechanism V; 3-7-wire wheel driving mechanism VI; 3-8-direct current generator V; 3-9-direct current generator VI; 3-10-direct current generator VII; 3-11-Connection Block I; 3-12-Connection Block II; 3-13-Connection Block III; 4-sphere operating mechanism; 4-1-bracing frame I; 4-2-bracing frame II; 4-3-sphere semicircle; 4-4-apparatus fixture; 4-5-shaft coupling; 4-6-apparatus driving device; 4-7 gripping apparatus.
Detailed description of the invention
Be below this utility model detailed description of preferred embodiment, should be appreciated that preferred embodiment only in order to this utility model is described, instead of in order to limit protection domain of the present utility model.
Embodiment 1
As shown in Figure 1, the seven freedom force feedback remote operating hands of a kind of switchable type of the present embodiment comprises clamping device 1, serial mechanism 2, parallel institution 3;
As shown in Figure 3, described clamping device 1 comprises clamping device 1-1, grip slipper 1-2, helix swiveling plate 1-3, encoder I 1-4, direct current generator I 1-5, clamping device 1-1 is slidably connected by guide post 1-1-1 and helix swiveling plate 1-3, helix swiveling plate 1-3 and grip slipper 1-2 is rotationally connected, and be connected with an output shaft of direct current generator I 1-5 by steel wire rope, helix swiveling plate 1-3 and Steel rope drive mechanism axes intersect, another output shaft of direct current generator 1-5 is connected with encoder I 1-4;
As shown in Figure 4, described serial mechanism 2 comprises turning arm I 2-1, turning arm II 2-2, wire wheel driving mechanism I 2-3, wire wheel driving mechanism II 2-4, wire wheel driving mechanism III 2-5, encoder II 2-6, encoder III 2-7, encoder IV 2-8, direct current generator II 2-9, direct current generator III 2-10, direct current generator IV 2-11, wire wheel driving mechanism I 2-3 is connected with grip slipper 1-2, wire wheel driving mechanism I 2-3 and turning arm I 2-1 is rotationally connected, and be connected with an output shaft of direct current generator II 2-9 by steel wire rope, wire wheel driving mechanism II 2-4 is connected with turning arm I 2-1, wire wheel driving mechanism II 2-4 and turning arm II 2-2 is rotationally connected, and be connected with an output shaft of direct current generator III 2-10 by steel wire rope, wire wheel driving mechanism III 2-5 is connected with turning arm II 2-2, and be connected with direct current generator IV 2-11 by steel wire rope, turning arm II 2-2 and connecting platform 3-1 is rotationally connected, another output shaft of direct current generator II 2-9 is connected with encoder II 2-6, another output shaft of direct current generator III 2-10 is connected with encoder III 2-7, another output shaft of direct current generator IV 2-11 is connected with encoder IV 2-8, the axes intersect of wire wheel driving mechanism I 2-3 and wire wheel driving mechanism II 2-4 and wire wheel driving mechanism III 2-5,
As shown in Figure 5, described parallel institution 3 comprises connecting platform 3-1, connecting rod I 3-2, connecting rod II 3-3, connecting rod III 3-4, wire wheel driving mechanism IV 3-5, wire wheel driving mechanism V 3-6, wire wheel driving mechanism VI 3-7, direct current generator V 3-8, direct current generator VI 3-9, direct current generator VII 3-10, Connection Block I 3-11, Connection Block II 3-12, Connection Block III 3-13, connecting rod I 3-2, connecting rod II 3-3 and connecting rod III 3-4 and connecting platform 3-1 is rotationally connected, connecting rod I 3-2 and wire wheel driving mechanism IV 3-5 is rotationally connected, connecting rod II 3-3 and wire wheel driving mechanism V 3-6 is rotationally connected, connecting rod III 3-4 and wire wheel driving mechanism VI 3-7 is rotationally connected, wire wheel driving mechanism IV 3-5 and Connection Block I 3-14 is rotationally connected, and be connected with direct current generator V 3-8 by steel wire rope, wire wheel driving mechanism V 3-6 and Connection Block II 3-12 is rotationally connected, and be connected with direct current generator VI 3-9 by steel wire rope, wire wheel driving mechanism VI 3-7 and Connection Block III 3-13 is rotationally connected, and is connected with direct current generator VII 3-10 by steel wire rope.
In the present embodiment, described operator gripper mechanism grips device 1-1 comprises guide post 1-1-1, grip shank 1-1-2, Ring put around finger for massage of cavity of human body 1-1-3, described helix swiveling plate 1-3 there is spiral hollow groove, bottom described grip slipper 1-2, has gathering sill, to be slidably connected sports limiting with guide post 1-1-1;
In the present embodiment, described wire wheel driving mechanism I 2-3, wire wheel driving mechanism II 2-4, wire wheel driving mechanism III 2-5 are semicircle groove structure, turning arm I 2-1, turning arm II 2-2, connecting platform 3-1 are provided with spacer pin 3-1-1, and the rotational angle of grip slipper 1-2, turning arm I 2-1, turning arm II 2-2 can control between 0 °-180 ° by described spacer pin 3-1-1.
The pedestal of the present embodiment is triangular base, and guide post is double-deck guide post, is conducive to motor coordination consistent, thus improves accuracy of action.
Doctor carries out in the operation process of remote operating utilizing operating robot, usually the active force between operation actuating station and surgical tissue can not effectively be experienced, therefore doctor is caused can not accurately to measure at the active force of the applying of operation manipulation end, but by this force feedback system operator, make operation manipulation end perception can perform the operation actuating station to the active force organized, doctor can the active force of reference feedback, regulates the position to the active force of surgical tissue or size further.And the current operating robot structure that operates main hands lacks the design of ergonomics aspect, adopt traditional mis instruments mode of operation by this operator, be conducive to the operating technology that doctor grasps rapidly operating robot.
Embodiment 2
As shown in Figure 2, a kind of switchable type seven freedom force feedback remote operating hands of the present embodiment comprises clamping device 1, parallel institution 3, sphere operating mechanism 4, described sphere operating mechanism 4 comprises bracing frame I 4-1, bracing frame II 4-2, sphere semicircle 4-3, apparatus fixture 4-4, shaft coupling 4-5, apparatus driving device 4-6 and gripping apparatus 4-7, gripping apparatus 4-7 and bracing frame I 4-1 is rotationally connected, bracing frame II 4-2 and bracing frame I 4-1 is rotationally connected, gripping apparatus 4-7 is slidably connected by apparatus fixture 4-4 and sphere semicircle 4-3, apparatus driving device 4-6 and gripping apparatus 4-7 is rotationally connected.
In the present embodiment, described sphere operating mechanism 4 is connected with connecting platform 3-1, can realize sphere operating mechanism 4 and substitute clamping device 1 and be connected with parallel institution 3 with serial mechanism 2, realize the control mode of similar traditional Minimally Invasive Surgery.
This utility model has following technique effect:
1, the clamping device of operator of the present utility model, serial mechanism is all connected by steel wire drive with parallel institution, and connect wire wheel driving mechanism and the force feedback output of motor realization in 7 degree of freedom by steel wire rope, steel wire drive also ensures that while ensureing motion smoothness the amplification of feedback force exports, force feedback can be applied respectively in 7 degree of freedom, operate more flexible, can be used as micro-wound operation robot General Main operator, implement various complex operations, improve reliability and the suitability of remote operating force feedback equipment, avoid existing six degree of freedom operator problem, the problem includes: the less problem of feedback force, meanwhile, the work space of this operator is 105x80x180mm, and configuration space is 180 ° of x, 180 ° of x 150 °, compact conformation, and good rigidity, be not easy the problem causing wrist fatigue, the life-span is higher, and use cost is low.
2, this utility model is by the switching of serial parallel mechanism and sphere operating mechanism, freely can switch the control mode of serial operation mode, parallel operation mode and traditional Minimally Invasive Surgery.
3, clamping device of the present utility model realize opponent clamp subtended angle control while, power hands trapping human organized drives helix swiveling plate to rotate by motor and reflects, allow holding piece produce reverse power, the bottom of grip slipper is provided with gathering sill, has coordinated sports limiting with guide post.
4, the grip slipper of clamping device of the present utility model, the turning arm I of serial mechanism, turning arm II form three joints, and the axes intersect in three joints is in a bit.
5, clamping device of the present utility model, serial mechanism and parallel institution all realize motion by steel wire drive, are coordinated and improve driving torque, thus strengthen feedback force, improve the intensity of feedback signal by wire wheel driving mechanism and motor.
What finally illustrate is, above preferred embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail this utility model by above preferred embodiment, but those skilled in the art are to be understood that, various change can be made to it in the form and details, and not depart from this utility model claims limited range.
Claims (4)
1. a seven freedom force feedback remote operating hands for switchable type, is characterized in that: comprise clamping device (1), serial mechanism (2), parallel institution (3) and sphere operating mechanism (4):
Described clamping device (1) comprises clamping device (1-1), grip slipper (1-2), helix swiveling plate (1-3), encoder I (1-4), direct current generator I (1-5), described clamping device (1-1) is slidably connected by guide post (1-1-1) and helix swiveling plate (1-3), described helix swiveling plate (1-3) and grip slipper (1-2) are rotationally connected, and be connected with an output shaft of direct current generator I (1-5) by steel wire rope, described helix swiveling plate (1-3) and Steel rope drive mechanism (2-1) axes intersect, another output shaft of described direct current generator (1-5) is connected with encoder I (1-4),
Described serial mechanism (2) comprises turning arm I (2-1), turning arm II (2-2), wire wheel driving mechanism I (2-3), wire wheel driving mechanism II (2-4), wire wheel driving mechanism III (2-5), encoder II (2-6), encoder III (2-7), encoder IV (2-8), direct current generator II (2-9), direct current generator III (2-10), direct current generator IV (2-11), described wire wheel driving mechanism I (2-3) is connected with grip slipper (1-2), described wire wheel driving mechanism I (2-3) and turning arm I (2-1) are rotationally connected, and be connected with an output shaft of direct current generator II (2-9) by steel wire rope, described wire wheel driving mechanism II (2-4) is connected with turning arm I (2-1), described wire wheel driving mechanism II (2-4) and turning arm II (2-2) are rotationally connected, and be connected with an output shaft of direct current generator III (2-10) by steel wire rope, described wire wheel driving mechanism III (2-5) is connected with turning arm II (2-2), and be connected with direct current generator IV (2-11) by steel wire rope, described turning arm II (2-2) and connecting platform (3-1) are rotationally connected, another output shaft of direct current generator II (2-9) is connected with encoder II (2-6), another output shaft of direct current generator III (2-10) is connected with encoder III (2-7), another output shaft of direct current generator IV (2-11) is connected with encoder IV (2-8), described wire wheel driving mechanism I (2-3), the axes intersect of described wire wheel driving mechanism II (2-4) and described wire wheel driving mechanism III (2-5),
Described parallel institution (3) comprises connecting platform (3-1), connecting rod I (3-2), connecting rod II (3-3), connecting rod III (3-4), wire wheel driving mechanism IV (3-5), wire wheel driving mechanism V (3-6), wire wheel driving mechanism VI (3-7), direct current generator V (3-8), direct current generator VI (3-9), direct current generator VII (3-10), Connection Block I (3-11), Connection Block II (3-12), Connection Block III (3-13), described connecting rod I (3-2), connecting rod II (3-3) and connecting rod III (3-4) are rotationally connected with connecting platform (3-1), described connecting rod I (3-2) and wire wheel driving mechanism IV (3-5) are rotationally connected, described connecting rod II (3-3) and wire wheel driving mechanism V (3-6) are rotationally connected, described connecting rod III (3-4) and wire wheel driving mechanism VI (3-7) are rotationally connected, described wire wheel driving mechanism IV (3-5) and Connection Block I (3-14) are rotationally connected, and be connected with direct current generator V (3-8) by steel wire rope, described wire wheel driving mechanism V (3-6) and Connection Block II (3-12) are rotationally connected, and be connected with direct current generator VI (3-9) by steel wire rope, described wire wheel driving mechanism VI (3-7) and Connection Block III (3-13) are rotationally connected, and be connected with direct current generator VII (3-10) by steel wire rope,
Described sphere operating mechanism (4) comprises bracing frame I (4-1), bracing frame II (4-2), sphere semicircle (4-3), apparatus fixture (4-4), shaft coupling (4-5), apparatus driving device (4-6) and gripping apparatus (4-7), described gripping apparatus (4-7) and bracing frame I (4-1) are rotationally connected, support frame as described above II (4-2) and bracing frame I (4-1) are rotationally connected, described gripping apparatus (4-7) is slidably connected by apparatus fixture (4-4) and sphere semicircle (4-3), described apparatus driving device (4-6) and gripping apparatus (4-7) are rotationally connected.
2. the seven freedom force feedback remote operating hands of a kind of switchable type according to claim 1, it is characterized in that: described operator gripper mechanism grips device (1-1) comprises guide post (1-1-1), grip shank (1-1-2), Ring put around finger for massage of cavity of human body (1-1-3), described helix swiveling plate (1-3) there is spiral hollow groove, gathering sill is arranged at described grip slipper (1-2) bottom, is slidably connected with guide post (1-1-1).
3. the seven freedom force feedback remote operating hands of a kind of switchable type according to claim 1, it is characterized in that: described wire wheel driving mechanism I (2-3), wire wheel driving mechanism II (2-4), wire wheel driving mechanism III (2-5) are semicircle groove structure, described turning arm I (2-1), turning arm II (2-2), connecting platform (3-1) are provided with spacer pin (3-1-1).
4. the seven freedom force feedback remote operating hands of a kind of switchable type according to claim 1, is characterized in that: described sphere operating mechanism (4) is connected with connecting platform (3-1).
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104546144A (en) * | 2015-01-22 | 2015-04-29 | 中国科学院重庆绿色智能技术研究院 | Switchable seven-degree-of-freedom force feedback remote operating manipulator |
| CN104842342A (en) * | 2015-05-25 | 2015-08-19 | 山东理工大学 | Parallel six-dimensional haptic unit |
| CN108888347A (en) * | 2018-07-03 | 2018-11-27 | 天津大学 | Intervene Robot Force-Feedback type main manipulator |
| CN109009453A (en) * | 2018-07-03 | 2018-12-18 | 天津大学 | Intervene the force feedback type main manipulator of robot |
-
2015
- 2015-01-22 CN CN201520045144.9U patent/CN204428164U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104546144A (en) * | 2015-01-22 | 2015-04-29 | 中国科学院重庆绿色智能技术研究院 | Switchable seven-degree-of-freedom force feedback remote operating manipulator |
| CN104546144B (en) * | 2015-01-22 | 2016-09-14 | 中国科学院重庆绿色智能技术研究院 | A kind of seven freedom force feedback remote operating hands of switchable type |
| CN104842342A (en) * | 2015-05-25 | 2015-08-19 | 山东理工大学 | Parallel six-dimensional haptic unit |
| CN104842342B (en) * | 2015-05-25 | 2020-03-24 | 山东理工大学 | Parallel six-dimensional force feedback device |
| CN108888347A (en) * | 2018-07-03 | 2018-11-27 | 天津大学 | Intervene Robot Force-Feedback type main manipulator |
| CN109009453A (en) * | 2018-07-03 | 2018-12-18 | 天津大学 | Intervene the force feedback type main manipulator of robot |
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