JP2016207005A5 - - Google Patents

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Publication number
JP2016207005A5
JP2016207005A5 JP2015089141A JP2015089141A JP2016207005A5 JP 2016207005 A5 JP2016207005 A5 JP 2016207005A5 JP 2015089141 A JP2015089141 A JP 2015089141A JP 2015089141 A JP2015089141 A JP 2015089141A JP 2016207005 A5 JP2016207005 A5 JP 2016207005A5
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JP
Japan
Prior art keywords
motor
accommodating
furthermore
force
wire
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2015089141A
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Japanese (ja)
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JP2016207005A (en
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Publication date
Application filed filed Critical
Priority to JP2015089141A priority Critical patent/JP2016207005A/en
Priority claimed from JP2015089141A external-priority patent/JP2016207005A/en
Publication of JP2016207005A publication Critical patent/JP2016207005A/en
Publication of JP2016207005A5 publication Critical patent/JP2016207005A5/ja
Pending legal-status Critical Current

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Description

ワイヤ接地点ＰＡＬ（ＰＢＬ、ＰＣＬ、ＰＤＬ）における半径Ｒの球面上の点線で示す接線に対してＤＣモータＭｉＬ（ｉ＝１〜８）に向う方向の単位ベクトルφｉ（ｉ＝１〜８）は次式で表される。
A unit vector φi (i = 1 to 8) in a direction toward the DC motor MiL (i = 1 to 8) with respect to a tangent indicated by a dotted line on the spherical surface of radius R at the wire ground point PAL (PBL, PCL, PDL) . It is expressed by the following formula.

エンドエフェクタ１Ｌの中心ＯからＤＣモータＭｉＬのワイヤ出口（プーリ）への位置ベクトルｍｏｔｏｒｉは次式で表される。
ただし、ＬｉはＤＣモータＭｉＬのワイヤ出口（プーリ）に接続されるワイヤＷｉＬの長さである。 A position vector motor i from the center O of the end effector 1L to the wire outlet (pulley) of the DC motor MiL is expressed by the following equation.
However, Li is the length of the wire WiL connected to the wire outlet (pulley) of the DC motor MiL.

Claims (1)

さらに、前記後側結合フレームに固定され、前記モータコントローラを収容するための背負子を具備する請求項１１に記載の力覚提示装置。 Furthermore, fixed to the rear coupling frame, force-feedback device according to claim 11 having a backpack carrier for accommodating the motor controller.
JP2015089141A 2015-04-24 2015-04-24 Force sense presentation device Pending JP2016207005A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2015089141A JP2016207005A (en) 2015-04-24 2015-04-24 Force sense presentation device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2015089141A JP2016207005A (en) 2015-04-24 2015-04-24 Force sense presentation device

Publications (2)

Publication Number Publication Date
JP2016207005A JP2016207005A (en) 2016-12-08
JP2016207005A5 true JP2016207005A5 (en) 2018-02-22

Family

ID=57489873

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015089141A Pending JP2016207005A (en) 2015-04-24 2015-04-24 Force sense presentation device

Country Status (1)

Country Link
JP (1) JP2016207005A (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6927498B2 (en) * 2018-01-29 2021-09-01 アラクノフォース株式会社 Force presentation device
EP3822512A4 (en) 2018-08-27 2021-08-18 Sony Group Corporation Parallel wire device, parallel wire system, medical robot operation device, mobile projection device, and mobile imaging device
JP7345804B1 (en) 2022-03-07 2023-09-19 アラクノフォース株式会社 Grip and force sense presentation device using it

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