CN205184791U - Distant manipulation hand controller based on power / sense of touch guide - Google Patents

Distant manipulation hand controller based on power / sense of touch guide Download PDF

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Publication number
CN205184791U
CN205184791U CN201520675455.3U CN201520675455U CN205184791U CN 205184791 U CN205184791 U CN 205184791U CN 201520675455 U CN201520675455 U CN 201520675455U CN 205184791 U CN205184791 U CN 205184791U
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China
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axis
axis motor
motor
support
rotating shaft
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CN201520675455.3U
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倪涛
郑幻飞
陈相显
赵苗苗
王丽娜
朱厚文
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吉林大学
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Abstract

The utility model relates to a distant manipulation hand controller based on power / sense of touch guide, constitute by last stage mechanism and lower stage mechanism, go up stage mechanism mainly by X axle direction rotary motion mechanism, Y axle direction rotary motion mechanism and Z axle direction rotary motion mechanism group become, wherein realize X, the rotatory mechanism of Y direction is parallelly connected to be constituteed and has 2 and rotate degree of freedom parallel mechanism and establish ties to form with Z axle rotational degree of freedom mechanism together and have the 3 series -parallel connection formula mechanisms that rotate the degrees of freedom, it is at maneuverability, the accuracy, the flexibility, current distant manipulation hand controller's defect is overcome to aspects such as security, the efficiency of the robot controls is improved. The utility model relates to a device that has the distant manipulation hand controller of power / sense of touch guide function.

Description

A kind of distant manipulation hand controller guided based on power/sense of touch
Technical field
The utility model relates to a kind of distant manipulation hand controller guided based on power/sense of touch, belongs to robot field of human-computer interaction, particularly a kind of distant manipulation hand controller device based on power/sense of touch guiding function.
Background technology
Robot has played more and more important effect for completing of job task under the extreme environments such as high temperature, high pressure, intense radiation.Robot is just towards intelligentized future development, but due to restriction that is controlled, the development level such as sensing and artificial intelligence, the full autonomous robot developed under changing environment is unapproachable target in a short time.Operation control terminal, is called for short hand controller, is the bridge carrying out man-machine interaction between operator and robot, must has higher manipulation efficiency and real-time.
No matter the bilateral servo control scheme that robot is conventional is power/Position Hybrid Control, impedance Control, adaptive force control etc., and mainly research is the operation counter-force how with high fidelity " reproducing and perception " robot; And during to robot freely-movable, namely do not come in contact with environment, how to guide the manipulative behavior of operator to inquire into by power sense.
The proposition of " Marr depth reconstruction " theories of vision framework, place mat has been made in the development for stereoscopic vision.On this basis, various robot vision control method is emerged in large numbers one after another, and obtains many successful application in practice.Visual servo greatly strengthen the intelligence degree of robot locally autonomous operation undoubtedly; But the prerequisite that visual servo job task is successfully completed is that destination object picture characteristics is known.This in most of the cases, especially deep-sea, space are explored and the occasion such as disaster field relief, run counter to this prerequisite of unpredictability of working site environment.Therefore, this is to the robot manipulating task under change or circumstances not known, still needs to explore the solution be applicable to, to improve the scope of application of robot controlling.
The research that vision combines with manipulator force control effectively improves the level of security of robot autonomous operation.But be no matter mixing vision/power control strategy or the experiment of vision impedance Control, be all only that the application of force-feedback control on Robot Visual Servoing extends, feedback force is wherein mainly used in realizing robot " being obedient to " to manipulating object or environment.The fusion that vision and power are felt only acts on the closed-loop control of situ machine people, and because the two does not participate in the intelligent decision loop of people, this control strategy is being just seem helpless in the face of job task complicated and changeable or circumstances not known.In addition, the generation of feedback force remains premised on the contact of robot and operating environment.
The Non-follow control of synthesize operator and the advantage from main control of robot, coordinate, jointly control robot, be i.e. Compliance control between people, self-control system.Although it is unpredictable that Compliance control has been widely used in environment, the robots such as the control signal that time delay causes is unreliable manipulation occasion, but existing Compliance control method ubiquity transducing signal is many, the problems such as control system is complicated, and no matter be free degree segmentation and the Compliance control mode merged (the different frees degree of the autonomous control respectively of the manual and robot of people, but not certain free degree of co-controlling), or (people first manually operates machine people to assigned address to the Task-decomposing control mode that view-based access control model is shared, robot independently fulfils assignment task again), the intelligence of operator and the intelligence of robot still relatively independent at control loop, degrees of fusion is not high, be difficult to adapt to complicated, changeable operating environment.
Summary of the invention
The purpose of this utility model is to provide a kind of distant manipulation hand controller guided based on power/sense of touch, and it overcomes the defect of existing distant manipulation hand controller in operability, accuracy, flexibility, security etc., improves the manipulation efficiency of robot.The present invention is the device of the distant manipulation hand controller of a kind of power of having/sense of touch guiding function.
The technical solution of the utility model is achieved in that a kind of distant manipulation hand controller guided based on power/sense of touch, and be made up of upper mounting plate mechanism and lower platform mechanism, upper mounting plate mechanism is primarily of X-direction rotational motion mechanism, Y direction rotational motion mechanism and Z-direction rotational motion mechanism composition, wherein realize X, the mechanism that Y-direction rotates composes in parallel to be had 2 rotation freedom parallel mechanisms and form the series parallel type mechanism with 3 rotational freedoms together with Z axis rotary freedom mechanisms in series, it is characterized in that: upper mounting plate mechanism is by handle, Z-direction rotating shaft, six-dimension force sensor, X-direction rotating shaft, X-direction gear train, Y-direction rotating shaft, idler shaft, X-axis motor side bracing frame, end cap, optoelectronic switch sheet, optoelectronic switch, X-axis motor support base, bracing frame, upper mounting plate substrate, X-axis motor, Z-direction gear train, Z-axis transmission bar, y-axis motor, y-axis motor bearing, y-axis motor side stand component, Y-direction gear train, angular contact ball bearing, Z axis support, hinge axis, Z axis motor, bolt, jump ring, copper sheathing forms,
X-direction rotational motion mechanism comprises X-direction rotating shaft, X-direction gear train, idler shaft, X-axis motor side bracing frame, end cap, optoelectronic switch sheet, optoelectronic switch, X-axis motor support base, bracing frame, X-axis motor and bolt, jump ring; Y direction rotational motion mechanism comprises Y-direction rotating shaft, end cap, optoelectronic switch sheet, optoelectronic switch, y-axis motor, y-axis motor bearing, y-axis motor side stand component, Y-direction gear train, angular contact ball bearing and bolt, jump ring; X, Y rotating mechanism is all fixed on upper mounting plate substrate and is also mutually arranged vertically, when motor runs, and non-interference separate motion in X, Y-direction;
The concrete position of X-direction rotational motion mechanism is: X-axis motor side bracing frame, X-axis motor support base and bracing frame are respectively by being bolted on upper mounting plate substrate, and X-axis motor is fixed by X-axis motor support base; X-direction rotating shaft terminal adopts the mode of interference fit to assemble with X-axis motor side bracing frame, bracing frame by angular contact ball bearing respectively, X-axis motor is by X-direction gear set drive X-direction rotating shaft, and by the hinge axis be arranged on X-direction rotating shaft, the rotary motion in X-direction is passed to Z axis support, adopt matched in clearance that copper sheathing is installed between Z axis support and hinge axis, copper sheathing and Z axis support interference fit, and fix at Z axis support two ends jump ring, spacing to Z axis support;
The concrete position of each parts of Y direction rotational motion mechanism is: y-axis motor side stand component, y-axis motor bearing and bracing frame are respectively by being bolted on upper mounting plate substrate, and y-axis motor is fixed by y-axis motor bearing; Y-direction rotating shaft terminal adopts the mode of interference fit to assemble with y-axis motor side stand component, bracing frame by angular contact ball bearing respectively; Y-direction rotating shaft is connected with the drive link be arranged on Z axis support by a circular groove simultaneously, y-axis motor is by Y-direction gear set drive Y-direction rotating shaft, and drive drive link that the rotation of Y-direction is passed to Z axis support by the circular groove in Y-axis, X, Y rotating mechanism is arranged vertically simultaneously, X rotating mechanism will along groove circumferencial direction back and forth movement by drive link, and in X, Y-direction, motion is independent non-interference;
Z-direction rotational motion mechanism comprises handle, Z-direction rotating shaft, six-dimension force sensor, Z-direction gear train, Z-axis transmission bar, Z axis support, Z axis motor, bolt, Z axis support is processed as upper and lower two parts, Z axis motor, Z-direction gear train, Z-axis transmission bar are fixedly connected on Z axis support, are fixedly connected with by upper and lower for Z axis support two parts by bolt; Handle, six-dimension force sensor are all fixed by bolts on Z-direction axle.Z axis motor is by Z-direction gear set drive Z-direction rotating shaft;
Lower platform mechanism is by motor, crank, pedestal, substrate plate, end cap, connecting rod, motion base plate, holder, support forms, and lower platform presents triangular symmetrical, substrate plate and motion base plate all triangular in shape, motor is fixedly connected on the edge of substrate plate respectively by pedestal, the output of motor all has crank, crank is respectively by the connecting rod of parallelogram, support, holder and the motion base plate be positioned at above substrate plate three angles are connected, by screw, the motion base plate of lower platform mechanism and upper mounting plate substrate are fixed, thus realize the connection of lower platform mechanism and upper mounting plate mechanism.
Good effect of the present utility model to solve existing distant manipulation hand controller Problems existing in operability, accuracy, flexibility, security etc., improves machine task efficiency, have application prospect very widely.
Accompanying drawing explanation
Fig. 1 is structure chart of the present utility model.
Fig. 2 is the structure chart of upper mounting plate mechanism of the present utility model.
Fig. 3 is structure and the space layout drawing of X-direction rotating mechanism and Y-direction rotating mechanism.
Fig. 4 is that the space of X-direction rotating mechanism and Z-direction rotating mechanism is arranged.
Fig. 5 is that the space of Y-direction rotating mechanism and Z-direction rotating mechanism is arranged.
Fig. 6 is the structure chart of lower platform mechanism of the present utility model.
Fig. 7 is power leading type hand controller fundamental diagram of the present utility model.
Detailed description of the invention
Be described further the utility model below in conjunction with accompanying drawing: as Figure 1-4, a kind of distant manipulation hand controller guided based on power/sense of touch, be made up of upper mounting plate mechanism A and lower platform mechanism B, upper mounting plate mechanism A is primarily of X-direction rotational motion mechanism, Y direction rotational motion mechanism and Z-direction rotational motion mechanism composition, wherein realize X, the mechanism that Y-direction rotates composes in parallel to be had 2 rotation freedom parallel mechanisms and form the series parallel type mechanism with 3 rotational freedoms together with Z axis rotary freedom mechanisms in series, it is characterized in that: upper mounting plate mechanism A is by handle 1, Z-direction rotating shaft 2, six-dimension force sensor 3, X-direction rotating shaft 4, X-direction gear train 5, Y-direction rotating shaft 6, idler shaft 7, X-axis motor side bracing frame 8, end cap 9, optoelectronic switch sheet 10, optoelectronic switch 11, X-axis motor support base 12, bracing frame 13, upper mounting plate substrate 14, X-axis motor 15, Z-direction gear train 16, Z-axis transmission bar 17, y-axis motor 18, y-axis motor bearing 19, y-axis motor side stand component 20, Y-direction gear train 21, angular contact ball bearing 22, Z axis support 23, hinge axis 24, Z axis motor 25, bolt 26, jump ring 27, copper sheathing 28 forms.
X-direction rotational motion mechanism comprises X-direction rotating shaft 4, X-direction gear train 5, idler shaft 7, X-axis motor side bracing frame 8, end cap 9, optoelectronic switch sheet 10, optoelectronic switch 11, X-axis motor support base 12, bracing frame 13, X-axis motor 15 and bolt, the structure that jump ring realizes Y-direction rotary freedom comprises Y-direction rotating shaft 6, end cap 9, optoelectronic switch sheet 10, optoelectronic switch 11, y-axis motor 18, y-axis motor bearing 19, y-axis motor side stand component 20, Y-direction gear train 21, angular contact ball bearing 22 and bolt, jump ring, X, Y rotating mechanism is all fixed on upper mounting plate substrate 14 and is also mutually arranged vertically, when motor runs, and non-interference separate motion in X, Y-direction.
The space of X-direction rotational motion mechanism and Z-direction rotational motion mechanism is arranged as shown in Figure 4, the concrete position of each parts of X-direction rotational motion mechanism is: X-axis motor side bracing frame 8, X-axis motor support base 12 and bracing frame 13 are respectively by being bolted on upper mounting plate substrate 14, and the back lash that the active force that when X-axis motor 15 is fixed by X-axis motor support base 12 to prevent from running, X-direction gear train 5 produces causes becomes large; X-direction rotating shaft 4 two ends adopt the mode of interference fit to assemble with X-axis motor side bracing frame 8, bracing frame 13 by angular contact ball bearing 22 respectively.When X-axis motor 15 runs through the rotary motion that X-direction gear train 5 drives X-direction rotating shaft to realize in X-direction, and by the hinge axis 24 be arranged on X-direction rotating shaft, the rotary motion in X-direction is passed to Z axis support 23.Wear and tear between Z axis support 23 and hinge axis 24 larger, therefore on hinge axis 24, adopt matched in clearance that copper sheathing 28 is installed, copper sheathing 28 and Z axis support 23 interference fit, and Z axis support 23 moves around when Z axis support 23 two ends jump ring 27 fixedly avoids X-direction rotary motion.
The space of Y direction rotational motion mechanism and Z-direction rotational motion mechanism is arranged as shown in Figure 5, the concrete position of each parts of Y direction rotational motion mechanism is: y-axis motor side stand component 20, y-axis motor bearing 19 and bracing frame 13 are respectively by being bolted on upper mounting plate substrate 14, and the back lash that the active force that when y-axis motor 18 is fixed by y-axis motor bearing 19 to prevent from running, Y-direction gear train 21 produces causes becomes large; Y-direction rotating shaft 6 two ends adopt the mode of interference fit to assemble with y-axis motor side stand component 20, bracing frame 13 by angular contact ball bearing 22 respectively; Y-direction rotating shaft 6 is connected with the drive link 17 be arranged on Z axis support 23 by a circular groove simultaneously.When y-axis motor 18 runs through rotary motion that Y-direction gear train 21 drives Y-direction rotating shaft to realize in Y-direction, and drive drive link 7 that the rotation of Y-direction is passed to Z axis support 23 by the circular groove in Y-axis, X, Y rotating mechanism is arranged vertically simultaneously, and when X rotating mechanism runs, drive link 7 will along groove circumferencial direction back and forth movement.Therefore in X, Y-direction, motion is independent non-interference.
Z-direction rotational motion mechanism comprises the parts such as handle 1, Z-direction rotating shaft 2, six-dimension force sensor 3, Z-direction gear train 16, Z-axis transmission bar 17, Z axis support 23, Z axis motor 25, bolt 26 and key, for ease of installing, Z axis support 23 is processed as upper and lower two parts, is fixed by Z axis support about 23 after installing Z axis motor 25, Z-direction gear train 16, Z-axis transmission bar 17 with bolt.Handle 1, six-dimension force sensor 3 are all fixed by bolts on Z-direction axle.When Z axis motor 25 runs, drive Z axis realization around the rotation of Z axis self by gear drive.
Lower platform mechanism B is made up of motor 29, crank 30, pedestal 31, substrate plate 32, end cap 33, connecting rod 34, motion base plate 35, holder 36, support 37, and lower platform presents triangular symmetrical; Substrate plate 32 and motion base plate 35 all triangular in shape, motor 29 is fixedly connected on the edge of substrate plate 32 respectively by pedestal 31, the output of motor 29 all has crank 30, and crank 30 is connected respectively by the connecting rod 34 of parallelogram, support 37, holder 36 and the motion base plate be positioned at above substrate plate 32 35 3 angles.By regulating the rotating speed of three motors, the translational motion on three directions can be realized.Fixed with upper mounting plate substrate 14 by the motion base plate 35 of screw by lower platform, thus realize the connection of lower platform and upper mounting plate.When the motor of upper and lower platform runs together, the motion of end hand grip 1 at space six degree of freedom can be realized.
upper mounting plate structure
In order to pursue the miniaturization of hand controller, meeting X, Y-direction rotate for ± 30 ° requirement, ensure not interfere the prerequisite of phenomenon under, upper mounting plate mechanism adopts and composes in parallel by the mechanism realizing X, Y-direction rotates the 3 rotational freedom series parallel type mechanisms that 2 rotation freedom parallel mechanisms are formed together with Z axis rotary freedom mechanisms in series.This is the place of comparing innovation in the design of hand controller, even if its structure becomes compact, rigidity enough, has again larger working space.
The whole motion process of upper mounting plate is: as shown in Figure 2, and X-axis motor 15 runs, and drives X-axis to realize rotary motion, and by hinge axis 24, the rotation of X-direction is passed to Z axis support 23; Y-axis motor 18 runs the rotary motion realizing Y-direction simultaneously, and by the groove on Y-direction rotating shaft 6, Z-axis transmission bar 17, the rotation of Y-direction is passed to Z axis support 23; Z axis motor 25 rotates through gear driven Z-axis transmission bar 17 self, so Z-axis transmission bar 17 realizes rotating in three directions, thus makes the operating grip being arranged on Z-axis transmission bar 17 end that the rotation of three degree of freedom also can occur.
When X-axis motor 15 runs through the rotary motion that X-direction gear train 5 drives X-direction rotating shaft to realize in X-direction, and by the hinge axis 24 be arranged on X-direction rotating shaft, the rotary motion in X-direction is passed to Z axis support 23.
When y-axis motor 18 runs through rotary motion that Y-direction gear train 21 drives Y-direction rotating shaft to realize in Y-direction, and drive drive link 7 that the rotation of Y-direction is passed to Z axis support 23 by the circular groove in Y-axis, X, Y rotating mechanism is arranged vertically simultaneously, and when X rotating mechanism runs, drive link 7 will along groove circumferencial direction back and forth movement.
When Z axis motor 25 runs, the rotation around Z axis self is realized by Z-direction gear train transmission drive Z axis support 23, simultaneously Z axis receive pass over from X, Y rotating mechanism X, motion Y-direction, thus make end hand grip 1 can the motion of implementation space 3 rotary freedom.
lower platform structure
As shown in Figure 6, due to parallel institution, because of it, to have rigidity high, and bearing capacity is strong, and end inertia is little, kinematic accuracy is high, and power performance is good, is easy to the advantages such as FEEDBACK CONTROL.Delta mechanism can realize the decoupling zero of translation and rotation, thus increases the range of movement of translation and rotation.The not offset formula Delta mechanism that selection normal solution and anti-solution are all easily tried to achieve, as lower platform, makes motion control simply effective.
Kinematics Simulation is carried out with connecting rod ratio by selecting different cranks, position distribution result from mechanism's forward Kinematic Analysis and end-effector: when crank 30 is less than 1 with parallelogram connection-rod 34 size ratio, crank 30 can obtain larger space; In addition ratio is more little more can guarantee to drive the Z axis motor 25 of end hand grip 1 to have less range of movement.Therefore the crank 30 selected when designing is 0.5 with the ratio of connecting rod 34, translation ± 80mm, all around translation ± 80mm in motion base plate 35 vertical direction selecting crank 30 length to make lower platform Delta mechanism.Be the moving range of hand controller.
control system
The present invention is the novel manual apparatus (main hand) of a kind of power of having/sense of touch guiding function, and its course of work as shown in Figure 7.
So-called power/sense of touch guiding function is exactly people-machine that hand controller adopts steering force and virtual directed force to merge
Compliance control method.Power/torque sensor is equipped with in hand controller inside, and it can detect the power that operator applies hand controller end hand grip, then imports in control unit by the force signal detected; Image capturing system mainly comprises binocular camera and corresponding data processing and transport module, according to theory and the stereovision technique of artificial potential energy, extract the color of image and depth information and Real-time Reconstruction from end robot end and manipulating object is virtual draws
The repulsion of power, barrier, by time the weighting scheme that becomes, virtual for manipulating object gravitation, the virtual repulsion of barrier, image virtual restraining force are synthesized, and the virtual directed force of synthesis are mapped in the control unit of hand controller; In a control unit by adopting location-based power to guide control strategy, reasonable distribution operator manually participates in the weights with machine participating actively, the autonomous mission planning of robot and Non-follow control are effectively combined, obtains corner that final data is each joint of hand controller and rotary speed information.
For realizing its power/sense of touch guiding function, 6 DC brushless motors are selected to drive when design con-trol system.And the course of work concrete according to hand controller, devise the motor servo control system of the practicality comprising power/moment inspecting module, control and drive system module, driver closed-loop control motor speed module and spacing module.
The advantage of control program and technique effect:
It take destination object as the novel human-computer communion control method that guiding builds guided robot and carries out close to the steering force of the virtual directed force biconditional operation person of destination object merging that hand controller adopts, and can improve operating efficiency and the security performance of robot; Simultaneously, because virtual directed force has implied the relative pose information of robot end and manipulating object, this power is to the guidance of operator's behavior, there is " teaching " effect, stress and the mental fatigue of the generation of operator's control can be alleviated, and, the maloperation that power guides control strategy that long-distance video image transmitting time lag can be avoided to bring.
Under the aid in guide of virtual directed force and operator's steering force, by the kinaesthesia on hand controller and power, operator can feel that manipulating object is to the attraction from end robot in perception reflection site environment, thus guide operator's control rapidly close to target; When robot closes on collision, robot " can push open " by the prediction counter-force on hand controller under non-contacting state, realizes the manual navigation of people to a certain extent; In addition by virtual directed force and steering force Compliance control, virtual directed force can give correct direction to the behavior of operator and guide, also operator can be made to get involved being revised from main control of robot, machine intelligence can be realized better combine with the advantage of human higher's decision-making.
Operator applies the effect of power to hand controller end hand grip (i.e. upper mounting plate Z axis end hand grip), the six-dimension force sensor being contained in handle, at its lower end detects the power that operator applies, then the force signal detected is imported in control unit, on the other hand by being mapped to the control unit of hand controller according to the virtual directed force of manipulating object obtained from the relative pose relation of end robot end and manipulating object and barrier; Steering force and virtual directed force pass through people-machine Compliance control method in hand controller through power/moment inspecting module, control and drive system module, driver closed-loop control motor speed module and spacing module in the controls, location-based power is adopted to guide control strategy, reasonable distribution operator manually participates in the weights with machine participating actively, the autonomous mission planning of robot and Non-follow control are effectively combined, obtains corner that final data is each joint of hand controller and rotary speed information.The rotary speed information of six drive motors needed for required hand controller end pose must be reached, driving element carries out speed governing to direct current generator after obtaining these data, the rotary encoder be simultaneously arranged on drive motors can also detect the actual speed of motor, and this information feed back is returned circuit driver, driver is to its closed-loop control of rotating speed, thus the end hand grip pose of hand controller is changed, formed and staff " pushes away and dragged " and the movement tendency of " teaching ".The posture information of handle is mapped to the end joint of robot by the communication link between principal and subordinate's hand, make robot motion and hand controller synchronized movement, realizing with target object is to be directed under people's manual steering force and virtual directed force signal co-controlling robot end in the motion of space six degree of freedom.

Claims (1)

1. the distant manipulation hand controller guided based on power/sense of touch, be made up of upper mounting plate mechanism and lower platform mechanism, upper mounting plate mechanism is primarily of X-direction rotational motion mechanism, Y direction rotational motion mechanism and Z-direction rotational motion mechanism composition, wherein realize X, the mechanism that Y-direction rotates composes in parallel to be had 2 rotation freedom parallel mechanisms and form the series parallel type mechanism with 3 rotational freedoms together with Z axis rotary freedom mechanisms in series, it is characterized in that: upper mounting plate mechanism is by handle, Z-direction rotating shaft, six-dimension force sensor, X-direction rotating shaft, X-direction gear train, Y-direction rotating shaft, idler shaft, X-axis motor side bracing frame, end cap, optoelectronic switch sheet, optoelectronic switch, X-axis motor support base, bracing frame, upper mounting plate substrate, X-axis motor, Z-direction gear train, Z-axis transmission bar, y-axis motor, y-axis motor bearing, y-axis motor side stand component, Y-direction gear train, angular contact ball bearing, Z axis support, hinge axis, Z axis motor, bolt, jump ring, copper sheathing forms,
X-direction rotational motion mechanism comprises X-direction rotating shaft, X-direction gear train, idler shaft, X-axis motor side bracing frame, end cap, optoelectronic switch sheet, optoelectronic switch, X-axis motor support base, bracing frame, X-axis motor and bolt, jump ring; Y direction rotational motion mechanism comprises Y-direction rotating shaft, end cap, optoelectronic switch sheet, optoelectronic switch, y-axis motor, y-axis motor bearing, y-axis motor side stand component, Y-direction gear train, angular contact ball bearing and bolt, jump ring; X, Y rotating mechanism is all fixed on upper mounting plate substrate and is also mutually arranged vertically, when motor runs, and non-interference separate motion in X, Y-direction;
The concrete position of X-direction rotational motion mechanism is: X-axis motor side bracing frame, X-axis motor support base and bracing frame are respectively by being bolted on upper mounting plate substrate, and X-axis motor is fixed by X-axis motor support base; X-direction rotating shaft terminal adopts the mode of interference fit to assemble with X-axis motor side bracing frame, bracing frame by angular contact ball bearing respectively, X-axis motor is by X-direction gear set drive X-direction rotating shaft, and by the hinge axis be arranged on X-direction rotating shaft, the rotary motion in X-direction is passed to Z axis support, adopt matched in clearance that copper sheathing is installed between Z axis support and hinge axis, copper sheathing and Z axis support interference fit, and fix at Z axis support two ends jump ring, spacing to Z axis support;
The concrete position of each parts of Y direction rotational motion mechanism is: y-axis motor side stand component, y-axis motor bearing and bracing frame are respectively by being bolted on upper mounting plate substrate, and y-axis motor is fixed by y-axis motor bearing; Y-direction rotating shaft terminal adopts the mode of interference fit to assemble with y-axis motor side stand component, bracing frame by angular contact ball bearing respectively; Y-direction rotating shaft is connected with the drive link be arranged on Z axis support by a circular groove simultaneously, y-axis motor is by Y-direction gear set drive Y-direction rotating shaft, and drive drive link that the rotation of Y-direction is passed to Z axis support by the circular groove in Y-axis, X, Y rotating mechanism is arranged vertically simultaneously, X rotating mechanism will along groove circumferencial direction back and forth movement by drive link, and in X, Y-direction, motion is independent non-interference;
Z-direction rotational motion mechanism comprises handle, Z-direction rotating shaft, six-dimension force sensor, Z-direction gear train, Z-axis transmission bar, Z axis support, Z axis motor, bolt, Z axis support is processed as upper and lower two parts, Z axis motor, Z-direction gear train, Z-axis transmission bar are fixedly connected on Z axis support, are fixedly connected with by upper and lower for Z axis support two parts by bolt; Handle, six-dimension force sensor are all fixed by bolts on Z-direction axle, and Z axis motor is by Z-direction gear set drive Z-direction rotating shaft;
Lower platform mechanism is by motor, crank, pedestal, substrate plate, end cap, connecting rod, motion base plate, holder, support forms, and lower platform presents triangular symmetrical, substrate plate and motion base plate all triangular in shape, motor is fixedly connected on the edge of substrate plate respectively by pedestal, the output of motor all has crank, crank is respectively by the connecting rod of parallelogram, support, holder and the motion base plate be positioned at above substrate plate three angles are connected, by screw, the motion base plate of lower platform mechanism and upper mounting plate substrate are fixed, thus realize the connection of lower platform mechanism and upper mounting plate mechanism.
CN201520675455.3U 2015-09-02 2015-09-02 Distant manipulation hand controller based on power / sense of touch guide CN205184791U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105108762A (en) * 2015-09-02 2015-12-02 吉林大学 Remote control hand controller based on force/touch guiding
CN108415250A (en) * 2018-02-09 2018-08-17 西安交通大学 A kind of man-machine coordination control system and its control method for preventing the elderly from falling down
CN109746900A (en) * 2019-02-01 2019-05-14 北京众绘虚拟现实技术研究院有限公司 A kind of three translation parallel device for force feedback of medical simulation

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105108762A (en) * 2015-09-02 2015-12-02 吉林大学 Remote control hand controller based on force/touch guiding
CN105108762B (en) * 2015-09-02 2017-01-18 吉林大学 Remote control hand controller based on force/touch guiding
CN108415250A (en) * 2018-02-09 2018-08-17 西安交通大学 A kind of man-machine coordination control system and its control method for preventing the elderly from falling down
CN109746900A (en) * 2019-02-01 2019-05-14 北京众绘虚拟现实技术研究院有限公司 A kind of three translation parallel device for force feedback of medical simulation
CN109746900B (en) * 2019-02-01 2021-03-30 北京众绘虚拟现实技术研究院有限公司 Three-translation parallel force feedback device for medical simulation

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