KR101792566B1 - Parallel Link structure and Force-reflecting interface system having the same - Google Patents

Parallel Link structure and Force-reflecting interface system having the same Download PDF

Info

Publication number
KR101792566B1
KR101792566B1 KR1020160017807A KR20160017807A KR101792566B1 KR 101792566 B1 KR101792566 B1 KR 101792566B1 KR 1020160017807 A KR1020160017807 A KR 1020160017807A KR 20160017807 A KR20160017807 A KR 20160017807A KR 101792566 B1 KR101792566 B1 KR 101792566B1
Authority
KR
South Korea
Prior art keywords
link
link arm
moving body
arm
operating
Prior art date
Application number
KR1020160017807A
Other languages
Korean (ko)
Other versions
KR20170096434A (en
Inventor
오용환
이기욱
허성문
Original Assignee
한국과학기술연구원
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 한국과학기술연구원 filed Critical 한국과학기술연구원
Priority to KR1020160017807A priority Critical patent/KR101792566B1/en
Publication of KR20170096434A publication Critical patent/KR20170096434A/en
Application granted granted Critical
Publication of KR101792566B1 publication Critical patent/KR101792566B1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The link structure includes a link member connected to the base, a first link arm and a second link arm connected to the link member and arranged in parallel to each other, a first link arm connected to the first link arm at a second link, Wherein the first link arm and the second link arm are driven to change positions of the first connection portion and the second connection portion to move in the forward and backward direction (y-axis direction) of the moving body, , The movement in the vertical direction (z-axis direction), the rotation about the y-axis, and the rotation about the z-axis are performed, and the connector is rotated relative to the base, Direction), and the moving body is rotated with respect to the first link arm and the second link arm, so that the moving body rotates about the x-axis center. The negative feedback presentation interface system comprises the link structure as an input device and a feedback device.

Description

Technical Field [0001] The present invention relates to a parallel link structure and a reverse-

The present invention relates to a link structure and a reversed sense presentation interface system having the link structure. More particularly, the present invention relates to a link structure and a reversed sense presentation interface system having the same, A link structure that can be applied to a body part, and a reversed feeling presentation interface system using the link structure.

Various interface systems have been developed to operate remote slave robots or virtual graphics (hereinafter referred to as "avatars ") according to the user's will in a virtual environment / augmented environment / remote environment according to industrial development.

Since the human hand is capable of precise movement, it is widely used as a means for driving the above interface system.

In such an interface system, since the avatars to be controlled and the environment in which the avatars operate are not user-experienced spaces, devices are being devised to provide a sense of back to the user for more realistic and sophisticated control.

The conventional reversed sense presentation apparatus measures the position of the user's fingertip and precisely applies the controlled force vector so that the link is operated in a direction opposite to the direction of movement of the finger, There are many ways to feel a sense of backwardness.

Such a conventional reversed sense presentation device does not generate a large force by using a serial type link structure, and has a limitation in that it provides only a reversal corresponding to a linear movement of a finger.

However, the entire hand is a part capable of six degrees of freedom movement of roll, yaw, and pitch rotational motion around the wrist joint, and linear motion of the front and rear, top and bottom and left and right.

In order to implement a more complete sense of backlash interface system in a virtual environment / augmented environment / remote environment, a device that can be applied to a body part having a high degree of freedom such as a hand and freely providing a corresponding reverse feeling is needed.

United States Patent No. 5,587,937

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems of the conventional art, and it is an object of the present invention to provide a link structure for allowing a moving object attached to a body part having six degrees of freedom to move with six degrees of freedom, And to provide the above objects.

In order to achieve the above object, according to one aspect of the present invention, there is provided a connector comprising: a connector connected to a base; a first link arm and a second link arm connected to the connector and arranged in parallel with each other; And a moving body connected to the link arm and connected to the second link arm at the second connecting portion, wherein the first link arm and the second link arm are driven to change positions of the first connecting portion and the second connecting portion, At least one of movement of the moving body in the forward and backward direction (y-axis direction), movement in the up-down direction (z-axis direction), rotation around the y- (X-axis direction) of the moving body is performed, and the moving body is rotated with respect to the first link arm and the second link arm, so that rotation of the moving body about the x-axis is performed A link structure is provided.

According to one embodiment, the first link arm includes a connection link connected to the first connection portion, and a working link portion composed of a plurality of links forming a closed loop together with the connection link and the connection member, And the connection link is operated by the operation of the link unit to change the position of the first connection unit.

According to one embodiment, the operating link portion includes a first operating link, one end of which is rotatably connected to the connecting link, one end rotatably connected to the first operating link, and the other end rotatably connected to the connecting link And a third operating link, one end of which is rotatably connected to the connecting link and the other end of which is rotatably connected to the connecting body.

According to one embodiment, the first operating link is connected to the end of the connecting link, and the third operating link is connected to the connecting link at another part than the first operating link.

According to one embodiment, the first operating link is formed longer than the third operating link.

According to one embodiment, the second link arm has a mirror symmetrical structure with the first link arm.

According to one embodiment, a guide bar extending in the longitudinal direction of the moving body is connected to the moving body, and the first connecting portion is movable along the guide bar.

According to an embodiment of the present invention, an auxiliary link arm is interposed between the first link arm and the second link arm to maintain the gap without interfering with the movement of the first link arm and the second link arm.

According to another aspect of the present invention, there is provided a reversed sense presentation interface system for providing a reversal in a body part capable of six degrees of freedom motion, the system including a link structure and a computer for controlling the operation of the link structure, There is provided a reverse feeling presentation interface system which is coupled to a moving body and controls the moving body to perform a motion opposite to the motion of the body part, thereby providing a reversal to interfere with the movement of the body part.

According to one embodiment, the link structure is an input device for inputting the movement of the body part to the computer.

1 is a perspective view of a link structure according to an embodiment of the present invention.
2 is a plan view of the link structure of Fig. 1;
3 is a side view of the link structure of Fig. 1;
Fig. 4 is a schematic representation of the link structure of Fig.
5A and 5B are views for explaining the operation principle of the moving body of the link structure of FIG.
Figs. 6A and 6B illustrate how the moving body of the link structure of Fig. 1 is moved in the y-axis direction.
Figs. 7A to 7C illustrate moving the moving body of the link structure of Fig. 1 in the z-axis direction.
Figs. 8A and 8B show how the moving body of the link structure of Fig. 1 is rotated around the z-axis.
Figs. 9A and 9B show how the moving body of the link structure of Fig. 1 is rotated around the y-axis.
FIG. 10A shows the length of each structure of the link structure of FIG. 1, and FIG. 10B shows angles of each joint of the link structure of FIG.
FIG. 11 is a conceptual block diagram of a reversed sense presentation interface system according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. Although the present invention has been described with reference to the embodiments shown in the drawings, it is to be understood that the invention is not limited thereto.

Fig. 1 is a perspective view of a link structure 1 according to an embodiment of the present invention, Fig. 2 is a plan view of the link structure 1, and Fig. 3 is a side view of the link structure 1. Fig.

1 to 3, the link structure 1 according to the present embodiment includes a link 300 that is rotatably connected to a fixed base 500, A first link arm 100 and a second link arm 200 connected to the first link arm 100 and the second link arm 200 and connected to the first link arm 100 in the first connection portion 20, And a moving body 10 connected to the second link arm 200 at a predetermined position.

The connecting body 300 includes a rotating plate 310 fixed to the base 500 to be rotatable about the joint 311 by a sixth motor 340 and a connecting member 300 extending upward from both ends of the rotating plate 310 And has two flanges 320 and 330, which are formed in a substantially "C" shape.

The two flanges 320 and 330 are formed in such a shape that the height of the upper end increases from the front to the rear.

The first motor 301 is coupled to the upper outer side of the upper side of the rear side of the first flange 320 and the second motor 302 is coupled to the upper outer side of the front side of the first flange 320. The third motor 303 is coupled to the rear upper end outer side of the second flange 330 and the fourth motor 303 is coupled to the front upper end outer side of the second flange 330.

The first link arm 100 includes a first connection link 110 having one end connected to the first connection unit 20 and a second connection link 110 connected to the first connection link 110 and the connection unit 300, 110 and a link 300 together with a first operating link 120, 130, 140 that forms a closed loop.

The first operating link 120 includes a first operating link 120 having one end rotatably connected to the first connecting link 110 with reference to the joint 112, And a second operating link 130 that is rotatably connected to the first operating link 120 at one end. The other end of the second operating link 130 is rotatably connected to the connector 300 on the basis of the joint 115. The second operating link 130 is connected to the first motor 301 and rotates with respect to the connecting body 300 by the first motor 301.

The first operating link portion 120 is rotatably connected to the first connecting link 110 at one end with respect to the joint 113 and the other end is rotatably connected to the connecting body 110 And a third actuating link 140 rotatably connected to the second actuating link 300. [ The third operating link 140 is connected to the second motor 302 and rotates with respect to the connecting body 300 by the second motor 302.

A joint 112 to which the first operating link 120 and the first connecting link 110 are connected is formed at the end of the first connecting link 110 and the third operating link 140 and the first connecting link 110 The joint 113 is formed at a portion of the joint 112 which is spaced apart from the first joint 20.

According to the present embodiment, the length of the first operating link 120 is longer than that of the third operating link 140.

The first operating link portions 120, 130 and 140 are driven by a driving force of the first motor 301 and / or the second motor 302 to allow the first connecting link 110 to operate. The operation of the first connection link 110 causes a change in the position of the first connection 20 connected thereto.

By forming the link structure of the closed loop structure in which the links are moved together with each other as a driving part for changing the position of the first connection part 20, the operation of each structure can be connected organically and a large load can be generated can do.

The second link arm 200 includes a second connection link 210 having one end connected to the second connection unit 30 and a second connection link 210 connected to the second connection link 210 and the connection unit 300, 210, and a second operating link 220, 230, 240 that together form a closed loop with the connector 300.

The second operating link portion 220 includes a fourth operating link 220 having one end rotatably connected to the second connecting link 120 with reference to the joint 212, And a fifth operating link 230, which is rotatably connected to the fourth operating link 220 at one end. The other end of the fifth operating link 230 is rotatably connected to the connector 300 with respect to the joint 215. The fifth operating link 230 is connected to the third motor 303 and rotates with respect to the connecting body 300 by the third motor 303.

One end of the second operating link 220 is rotatably connected to the second connecting link 210 with respect to the joint 213 and the other end of the second operating link 220 is connected with the joint 216 And a sixth operating link 240 rotatably connected to the second operating link 300. The sixth operating link 240 is connected to the fourth motor 304 and rotates with respect to the connecting body 300 by the fourth motor 304.

The joint 212 to which the fourth operating link 220 and the second connecting link 210 are connected is formed at the end of the second connecting link 210 and the sixth operating link 240 and the second connecting link 210 Is formed at a portion of the joint 212 that is spaced toward the second connection portion 30 with respect to the joint 212.

According to the present embodiment, the length of the fourth operating link 220 is longer than that of the sixth operating link 240.

The second operating link portions 220, 230 and 240 are driven by the driving force of the third motor 303 and / or the fourth motor 304 to allow the second connecting link 210 to operate. The operation of the second connecting link 210 causes a change in the position of the second connecting portion 30 connected thereto.

The configurations of the first link arm 100 and the second link arm 200 are described separately for convenience of explanation. However, the first link arm 100 and the second link arm 200 are substantially the same Structure, and have a mirror symmetrical structure such as mirrored to each other.

As will be described later, the first link arm 110 and the second link arm 200 operate in the same direction as well as in the opposite direction to control the operation of the moving body 10.

In order to precisely control the position of the mobile body 10, the first link arm 110 and the second link arm 200, which are arranged in parallel to each other in parallel, must be operated while maintaining a predetermined gap therebetween. The gap between the first link arm 110 and the second link arm 200 may vary due to the banding of the link arm having a relatively long length and this unintended change in the spacing may cause failure of the apparatus or the like .

The first link arm 100 and the second link arm 200 can be moved between the first link arm 100 and the second link arm 200 without interfering with the movement of the first link arm 100 and the second link arm 200, The auxiliary link arm 400 is engaged.

The auxiliary link arm 400 includes a first auxiliary link 410 that is freely rotatable with respect to the third operating link 140 in the joint 401 formed at a position coinciding with the joint 113, A second auxiliary link 420 and a first auxiliary link 410 and a second auxiliary link 420 that are freely rotatable with respect to the sixth operating link 240 in a joint 402 formed at a position coincident with the sixth operating link 240, And a third auxiliary link 430 connecting the first and second auxiliary links.

The third auxiliary link 430 is rotatably connected to the first auxiliary link 410 and the second auxiliary link 420 at the joint 403 and the joint 404. [

According to this configuration, the distance between the first link arm 100 and the second link 200 is kept close to each other due to the length of the third auxiliary link 430.

Since the first to third auxiliary links are rotatable with respect to each other and the auxiliary link is freely rotatable with respect to the first link arm 100 and the second link arm 200, The third operating link 140 rotates downward with respect to the connecting body 300 and the sixth operating link 240 rotates with respect to the connecting body 300 (for example, The first auxiliary link 410 rotates downward with respect to the third auxiliary link 430 and the second auxiliary link 420 rotates downward with respect to the third auxiliary link 430 So that the movement of the operation link is not disturbed).

3, the auxiliary link arm 400 is not shown.

The joint 115 and the joint 215, the joint 116 and the joint 216, to prevent the control accuracy from being degraded by the fine bending of the two flanges 320 and 330, Two connection bars 151 and 152 are disposed.

The two connecting bars 151 and 152 serve to maintain the distance between the two flanges 320 and 330 but do not interfere with the movement of the operating link connected to the corresponding joint.

According to the present embodiment, the auxiliary link arm 400 freely rotatable about the first link arm 100 and the second link arm 200 is connected to the center of the third auxiliary link 430, And a spring 440 connected to the center of the bar 152. The spring 440 prevents the auxiliary link arm 400 from being lowered to interfere with the operation of the first link arm 100 and the second link arm 200.

A guide bar (a so-called LM guide) 11 (hereinafter, referred to as an LM guide) 11 having a diameter smaller than the diameter of the moving body 10 is provided on an end side where the first connecting portion 20 is located, Is formed.

The first connection portion 20 includes a cylinder member 21 formed to surround the guide bar 11 and slidable along the guide bar 11. A bearing is provided inside the cylinder member 21 so that the cylinder member 21 is rotatable with respect to the guide bar 11. That is, the first connection portion 20 is capable of linear movement in the longitudinal direction of the moving body 10 and rotational movement in the longitudinal direction by a two-degree-of-freedom joint (cylindrical joint)

The cylinder member 21 is formed with a connecting member 22 of a substantially "? -Shaped shape " rotatably connected to the cylinder member 21 at the joint 23. The connecting member 22 is rotatably connected to the first connecting link 110 at the joint 111. [

The second connection portion 30 is connected to the moving body 10 at the opposite end of the end portion where the first connection portion 20 is formed.

The second connecting portion 30 includes a connecting member 31 of a substantially "C" shape for rotatably fixing the moving body 10 on the basis of the joint 33. The connecting member 31 is provided with a fifth motor 40 and the moving body 10 can be rotated with respect to the joint 33 by the fifth motor 40.

The connecting member 31 is formed with a connecting member 32 of a substantially "?" Shape which is rotatably connected to the connecting member 31 at the joint 34. [ The connecting member 32 is rotatably connected to the second connecting link 220 at the joint 211.

4 is a schematic view of the link structure 1 according to the present embodiment as a link and a joint.

In FIG. 4, the cylindrical portion corresponds to a revolute joint. As shown in FIG. 4, the link structure 1 according to the present embodiment is formed of a joint of one degree of freedom allowing all the joints to rotate in only one direction except for the joint 24, Structure can be formed.

Figs. 5A and 5B are views for explaining the operation principle of the moving body 10. Fig.

In this specification, the moving direction of the moving body 10 is the y-axis direction, and the vertical direction is the z-axis direction. The left-right direction is defined as the x-axis direction.

The link structure 1 according to the present embodiment drives the first link arm 100 and the second link arm 200 in the same direction and attitude to form a first connection portion 20 connected to the connection body 10, The movement of the mobile unit 10 in the y-axis direction and the movement in the z-axis direction are caused by changing the position without changing the relative position of the connection unit 30. [

5A, the first link unit 20 is moved to the upper side 611 using the first link arm 100 and the second link arm 200 is moved to the first link arm 100, The second connecting portion 30 is moved to the upper side 621 so that the moving body 10 moves to the upper side F y . The first link arm 20 is moved to the front 711 by using the first link arm 100 and the second link arm 200 is operated in the same manner as the first link arm 100, 30 to the front 721, the moving body 10 can be moved forward (F z ).

On the other hand, the link structure 1 rotates (801) with respect to the base 500 relative to the joint 311 with respect to the link body 300, whereby the movement F x of the moving body 10 in the x-axis direction is performed.

The link structure 1 according to the present embodiment includes a first connecting portion 20 and a second connecting portion 30 connected to the connecting body 10 by reversely driving the first and second link arms 100 and 200, The pitch of the y-axis of the moving body 10 and the yaw of the center of the z-axis are generated.

5B, the first link 20 is moved downward 611 using the first link arm 100 and the second link arm 200 is moved to the first link arm 100, is operated in the opposite direction by moving the second connecting portion 30 in the upper 621, the moving object 10 is a half turn in the clockwise direction (ψ τ) around the z-axis. The first link arm 100 is moved to the front 711 by using the first link arm 100 and the second link arm 200 is operated in the opposite direction to the first link arm 100, ) a is moved in the rear portion 721, the moving object 10 is half the rotation (θ τ) in the clockwise direction around the y-axis.

On the other hand, the link structure 1 rotates about the first link arm 100 and the second link arm 200 with respect to the joints 33 and 24 so that the x axis of the moving body 10 (Τ φ ) around the center.

Hereinafter, the process of moving the mobile unit 10 will be described in more detail with reference to the drawings.

6A and 6B show a state in which the moving body 10 is moved in the y-axis direction. FIG. 6A shows a state in which the mobile body 10 is maximally raised, and FIG. 6B shows a state in which the mobile body 10 is downwardly maximized.

The first link arm 100 and the second link arm 200 operate in the same manner when moving the moving body 10 only in the y axis direction or the z axis direction, (200) will be mainly described.

6A, in order to move the moving body 10 in the y-axis direction, the motor shaft of the third motor 303 connected to the second link arm 100 and the motor shaft of the fourth motor 304 Rotate in the same direction. Since the sixth operating link 240 is shorter in length than the fourth operating link 220 and the fourth operating link 220 is connected to the third motor 303 through the fifth operating link 230, The rotational angle of the motor shaft of the third motor 303 is controlled to be larger than the rotational angle of the motor shaft of the fourth motor 304 for the same time in consideration of the rotational radius of each operating link.

If the sixth operating link 240 rotates relative to the joint 216 and the relative displacement of the second connecting link 210 does not occur, the second connecting portion 30 may move in a parabolic motion (i.e., Displacement occurs at the same time). According to the present embodiment, by driving the third motor 303 having a larger amount of rotation, the fourth operating link 220 pushes the end of the second connecting link 210, Clockwise eccentricity with respect to the sixth operating link 240 on the basis of the first operating link 213. As a result, the second connection portion 30 is relatively displaced rearward, and the rearward displacement and the forward displacement described above are canceled, so that the second connection portion 30 moves only downward (see FIG. 6B) .

6B, the third motor 303 and the fourth motor 304 are driven in the clockwise direction, and the rotation angle of the motor shaft of the third motor 303 is made larger than the rotation angle of the motor shaft of the fourth motor It will be understood that the second connecting portion 30 can be moved upward.

The first motor 301 and the second motor 302 connected to the first link arm 100 are operated in the same manner as the third motor 303 and the fourth motor 304, Can operate in the same manner as the second link arm 200. Therefore, the moving body 10 moves in the y-axis direction while maintaining its posture.

Figs. 7A to 7C show a state in which the moving body 10 located at the foremost position is moved backward in the z-axis direction.

7A, in a state in which the first connection link 110 and the second connection link 210 are inclined forward with respect to the vertical direction, the motor shaft of the third motor 303 is rotated counterclockwise And rotates the motor shaft of the fourth motor 304 in a clockwise direction. The rotation angle of the motor shaft of the third motor 303 is set to the rotation angle of the motor shaft of the fourth motor 304 in the same time period in consideration of the lengths of the fourth operation link 220 and the fifth operation link 230 .

According to such control, the fourth operating link 220 pushes the end of the second connecting link 210, and the second connecting portion 30 is subjected to a force for moving the parabolic curve (simultaneous backward movement and downward movement). At this time, the rotation of the sixth operating link 240 in the clockwise direction lifts the second connecting link 210 upward, and the downward movement of the second connecting portion 30 is canceled. Therefore, the second connection portion 30 moves only in the backward direction.

As shown in FIG. 7B, when the second connection links 210 are arranged substantially vertically, the driving directions of the third motor 303 and the fourth motor 304 are changed.

Specifically, as shown in Fig. 7C, the rotation direction of the motor shaft of the fourth motor 304 is changed in the counterclockwise direction, and the motor shaft of the third motor 303 maintains the rotation in the counterclockwise direction. At this time, the rotation angle of the motor shaft of the third motor 303 is made larger than the rotation angle of the motor shaft of the fourth motor 304 during the same time.

When the fourth operating link 220 pushes the end of the second connecting link 210 in a state where the second connecting link 210 is substantially vertically placed, the second connecting portion 30 is moved in a parabolic motion I have the power to do. At this time, the sixth operating link 240 is rotated counterclockwise by the fourth motor 304 to push the second connecting link 210 downward, and the upward movement of the second connecting portion 30 is canceled . Therefore, the second connection portion 30 moves only in the backward direction.

On the contrary, it is understood that the second connecting portion 30 can be moved forward by reversing the above process starting from driving the third motor 303 and the fourth motor 304 in the clockwise direction in the state of FIG. 7C Will be.

The first motor 301 and the second motor 302 connected to the first link arm 100 are operated in the same manner as the third motor 303 and the fourth motor 304, Can operate in the same manner as the second link arm 200. Therefore, the moving body 10 moves in the z-axis direction while maintaining its posture.

Figs. 8A and 8B show how the moving body 10 is rotated about the z-axis. 8A shows a state in which the mobile body 10 is rotated in a counterclockwise direction in a horizontal state, and FIG. 8B shows a state in which the mobile body 10 is rotated in a clockwise direction in a horizontal state.

8A, the first link arm 100 drives the first motor 301 and the second motor 302 to move the first connecting portion 20 downward And the second link arm 200 drives the third motor 303 and the fourth motor 304 to move the second connection portion 30 upward. The first motor 301 and the second motor 302 are driven in directions opposite to the third motor 303 and the fourth motor 304. [

As the first connecting portion 20 and the second connecting portion 30 move in the up and down directions opposite to each other, the moving body 10 rotates about the z-axis.

At this time, the first linking part 20 slides along the guide bar 11 to move away from the moving body 10, and the first link arm 100 and the second link arm 200, which are fixed parallel to each other, 10 so that the moving body 10 can rotate at a relatively large angle.

8B, the first link arm 100 drives the first motor 301 and the second motor 302 to move the first connecting portion 20 upward, When the second connecting unit 30 is moved downward by driving the third motor 303 and the fourth motor 304, the mobile unit 200 rotates in the clockwise direction about the z axis.

At this time, the first connection portion 20 slides along the guide bar 11 so as to move away from the moving body 10, so that the moving body 10 can rotate at a predetermined angle.

The first connection portion 20 reciprocates along the guide bar 11 while the moving body 10 is rotated in the state of FIG. 8A to FIG. 8B.

Figs. 9A and 9B show how the moving body 10 is rotated around the y-axis. FIG. 9A shows a state in which the moving body 10 is rotated in a counterclockwise direction, and FIG. 9B shows a state in which the moving body 10 is rotated in a clockwise direction.

9A, the first link arm 100 drives the first motor 301 and the second motor 302 to move the first connecting portion 20 forward And the second link arm 200 drives the third motor 303 and the fourth motor 304 to move the second connecting portion 30 backward. The first motor 301 and the second motor 302 are driven in directions opposite to the third motor 303 and the fourth motor 304. [

As the first connecting portion 20 and the second connecting portion 30 move in opposite directions, the moving body 10 rotates about the y-axis.

At this time, the first connection portion 20 slides along the guide bar 11 away from the moving body 10, so that the moving body 10 can rotate at a relatively large angle.

9B, the first link arm 100 drives the first motor 301 and the second motor 302 to move the first connecting portion 20 backward, When the second connection unit 30 is moved forward by driving the third motor 303 and the fourth motor 304 to rotate the mobile unit 10 clockwise about the y axis.

The first connecting portion 20 reciprocates along the guide bar 11 while the moving body 10 rotates in the state of FIGS. 9A through 9B.

In addition, it has already been described that the moving body 10 can be moved in the x-axis direction and rotated around the x-axis, and this operation can be performed by driving the fourth motor 40 and the sixth motor 340.

Although the movement of the moving body 10 in the x, y and z axis directions and the rotation around the x, y and z axes have been described above for the sake of understanding, the six motors are controlled independently, , movement in the z-axis direction (movement in three directions), and rotation in the x, y, z axis (three-way rotation) can be performed simultaneously.

10A shows the lengths of the respective structures of the link structure 1, and FIG. 10B shows the angles of the respective joints and the like of the link structure 1. As shown in FIG.

Since the link structure 1 has a total of six independently controllable motors, the first connecting portion 20 of the moving body 10 can be moved in three directions, a position (P e2) and can be calculated by inverse kinematic analysis using the rotation angle of the Jacobian for each joint in the second position (P e1) of the connecting portion (30).

By controlling the axes of six motors each motor in accordance with the rotation angle of the calculated joint, the position of the first connecting portion (20) (P e2) and a second position of the connecting portion (30) (P e1) to be moved to the desired position have.

That is, it is possible to control the simultaneous movement of the moving body 10 in the x, y and z axis directions (three-direction movement) and the rotation around the x, y and z axes (three-way rotation).

The use of the link structure 1 according to the present embodiment enables linear motion in three axis directions (x, y, z axes) orthogonal to each other so as to meet at one point, for example, And a reversed feeling presentation interface system that provides a reversal to the body part capable of 6 degrees of freedom movement of the rotational motion with respect to the body.

FIG. 11 is a conceptual block diagram of a reversed sense presentation interface system according to an embodiment of the present invention.

The negative feedback presentation interface system includes a link structure 1 and a computer 950 for controlling the operation of the link structure 1. [

The hands are bound to the moving body 10 of the link structure 1. [ The glove 900 having elasticity is attached to the lower end of the moving body 10 and the hand 3 is fitted to the glove 900 as shown in Fig. It is possible to bind the hand 3 to the moving body 10 in a manner.

However, when the finger is not required to be operated, for example, a method may be used in which a hand is tied to the mobile object 10 while holding the mobile object 10 by hand, It can be used to bind the hand 3 and the mobile body 10 in a manner that the mobile body 10 can be transferred substantially as it is.

A monitor 910 of the computer 950 is provided with a graphic 910 having a hand shape as an avatar moving in response to the movement of the user's hand 3. The graphic 910 has a virtual hand 911, a wrist 913 and an arm 912 in the form corresponding to the user's hand 3, wrist 4 and arm 2. [

According to the present embodiment, the link structure 1 transmits information on the movement of the hand 3 to the computer 950 as an input device of the backlash-presenting interface system so as to move the graphic 910.

Each joint of the link structure 1 may be provided with a rotation angle sensor for measuring the rotation angle of the joint. When the user moves or rotates the hand 3, the moving body 10 moves or rotates correspondingly, and the motion of the moving body 10 causes each link connected thereto to operate, resulting in rotational displacement of the joint.

The position and attitude of the moving object 10 can be calculated based on the rotation angle measured by the rotation angle sensor provided in the joint, and the graphic 910 moves within the virtual space projected on the monitor correspondingly.

As shown in Fig. 11, when the user moves the hand 3 to the left, the graphic 910 moves to the left correspondingly.

When the hand 911 of the graphic 910 touches the fixed object M while moving to the left, the graphic 910 is subjected to movement resistance.

If the user wishes to push the actual object by hand in the actual environment, the user can move the hand 3 to the left side and move the hand 3 against the wrist 4 without breaking (i.e., Clockwise motion). As a reaction to this, a force in the right hand direction of the x-axis and a torque in the clockwise direction around the y-axis are applied to the hand 3 with a counter sense.

When the user continues to push the hand 3 to the left side while the hand 911 of the graphic 910 is in contact with the object M in order to provide a similar inversion to this actual situation, Is controlled so as to move in the right direction of the x-axis and in the clockwise direction around the y-axis. Therefore, the back feeling which is felt when the actual object is pushed to the left side can be reproduced in the hand 3.

That is, the link structure 1 according to the present embodiment controls the movement of the moving body 10 in opposition to the movement of the body part connected thereto, thereby providing a reversal by interfering with the movement of the body part.

In this embodiment, the virtual graphic 910 is exemplified as an avatar operating in accordance with the movement of the body part, but the present invention is not limited thereto. For example, if the object is remotely controlled by a user, such as a remote robot, the system can be used as an avatar to which the system is applied.

The link structure 1 according to the present embodiment can reproduce an operation with a high degree of freedom by independently controlling the position of the end portion of the bar-shaped moving body by using the two link arms.

In addition, the link structure 1 can generate a large load by arranging two link arms in parallel. The link structure 1 can be provided with an independently controllable motor corresponding to the degree of freedom of the moving body, thereby greatly reducing the amount of calculation required for position control.

In addition, the present invention can be applied to a body part having a high degree of freedom such as a wrist to freely provide a corresponding reversed sense, thereby realizing a more complete sense of a sense of backwardness displaying interface system in a virtual environment / augmented environment / remote environment.

Claims (10)

A connector connected to the base,
A first link arm and a second link arm which are connected to the connection body and are arranged in parallel with each other,
And a moving body connected to the first link arm at the first connecting portion and connected to the second link arm at the second connecting portion,
The first link arm and the second link arm are driven to change the positions of the first connecting portion and the second connecting portion to move the moving body in the forward and backward directions (y-axis direction) Movement, rotation about the y-axis, and rotation about the z-axis are performed,
(X-axis direction) of the moving body is achieved by rotating the connecting body with respect to the base,
The mobile body is rotated about the first link arm and the second link arm to rotate the moving body around the x-axis,
The first link arm includes a connection link connected to the first connection portion and a working link portion composed of a plurality of links forming a closed loop together with the connection link and the connection member,
Wherein the operation of the operating link unit operates the connecting link to change the position of the first connecting unit. delete The method according to claim 1,
Wherein the operation link portion includes:
A first operating link, one end of which is rotatably connected to the connecting link,
A second operating link having one end rotatably connected to the first operating link and the other end rotatably connected to the connecting body,
And a third operating link, one end of which is rotatably connected to the connecting link and the other end is rotatably connected to the connecting body. The method of claim 3,
The first operating link being connected to an end of the connecting link,
And the third operating link is connected to the connecting link at another portion than the first operating link. 5. The method of claim 4,
Wherein the first operating link is formed longer than the third operating link. The method according to claim 1,
And the second link arm has a mirror symmetrical structure with the first link arm. A connector connected to the base,
A first link arm and a second link arm which are connected to the connection body and are arranged in parallel with each other,
And a moving body connected to the first link arm at the first connecting portion and connected to the second link arm at the second connecting portion,
The first link arm and the second link arm are driven to change the positions of the first connecting portion and the second connecting portion to move the moving body in the forward and backward directions (y-axis direction) Movement, rotation about the y-axis, and rotation about the z-axis are performed,
(X-axis direction) of the moving body is achieved by rotating the connecting body with respect to the base,
The mobile body is rotated about the first link arm and the second link arm to rotate the moving body around the x-axis,
A guide bar extending in the longitudinal direction of the moving body is connected to the moving body,
The first connection part is movable along the guide bar,
Wherein an auxiliary link arm is interposed between the first link arm and the second link arm to maintain an interval between the first link arm and the second link arm without interfering with movement of the first link arm and the second link arm. delete A reversed sense presentation interface system for providing a reversal in a body part capable of 6-DOF motion in three axial directions orthogonal to each other so as to meet at one point and rotational motion about each of the three axes,
8. A link structure according to any one of claims 1 to 7,
And a computer for controlling operation of the link structure,
Wherein the body part is bound to the moving body,
Wherein the controller controls the moving body to move in a direction opposite to the movement of the body part, thereby providing a reversible sense of interfering with the movement of the body part. 10. The method of claim 9,
Wherein the link structure comprises:
And an input device for inputting the movement of the body part to the computer.
KR1020160017807A 2016-02-16 2016-02-16 Parallel Link structure and Force-reflecting interface system having the same KR101792566B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020160017807A KR101792566B1 (en) 2016-02-16 2016-02-16 Parallel Link structure and Force-reflecting interface system having the same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020160017807A KR101792566B1 (en) 2016-02-16 2016-02-16 Parallel Link structure and Force-reflecting interface system having the same

Publications (2)

Publication Number Publication Date
KR20170096434A KR20170096434A (en) 2017-08-24
KR101792566B1 true KR101792566B1 (en) 2017-11-02

Family

ID=59758371

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020160017807A KR101792566B1 (en) 2016-02-16 2016-02-16 Parallel Link structure and Force-reflecting interface system having the same

Country Status (1)

Country Link
KR (1) KR101792566B1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109834415B (en) * 2019-04-08 2023-07-25 安徽工程大学 Series-parallel five-degree-of-freedom welding robot

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100457927B1 (en) * 2002-05-01 2004-11-18 한국과학기술원 Endoscopy Training System Using Haptic Interface and Virtual Reality
JP5728483B2 (en) * 2009-10-02 2015-06-03 コミッサリア ア レネルジー アトミーク エ オ ゼネルジ ザルタナテイヴ Robot with parallel arms or tactile interface structure

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100457927B1 (en) * 2002-05-01 2004-11-18 한국과학기술원 Endoscopy Training System Using Haptic Interface and Virtual Reality
JP5728483B2 (en) * 2009-10-02 2015-06-03 コミッサリア ア レネルジー アトミーク エ オ ゼネルジ ザルタナテイヴ Robot with parallel arms or tactile interface structure

Also Published As

Publication number Publication date
KR20170096434A (en) 2017-08-24

Similar Documents

Publication Publication Date Title
JP3888689B2 (en) Parallel haptic joystick system
US6047610A (en) Hybrid serial/parallel manipulator
JP5716769B2 (en) Robot simulator, robot teaching apparatus, and robot teaching method
US5847528A (en) Mechanism for control of position and orientation in three dimensions
US8977392B2 (en) Robot control device, robot control method, robot control program, and robot system
JP2000246674A (en) Inner force sense presenting device
JP5126892B2 (en) Multi-degree-of-freedom force-sensing manipulator
JP2014018912A (en) Robot control device, robot control method, robot control program and robot system
JP4696784B2 (en) Massage machine
KR101792566B1 (en) Parallel Link structure and Force-reflecting interface system having the same
JP5211287B2 (en) A haptic manipulator with a single center of rotation
KR101603044B1 (en) 6 degree-of-freedom mechanism haptic device
JP2685602B2 (en) Master-slave manipulator system
JP2012096337A (en) Parallel mechanism using a plurality of elastic wires having rigidity
JPH09290382A (en) Manipulator capable of making six-freedom degree motion suited for reaction force feedback
Adelstein et al. Kinematic design of a three degree of freedom parallel hand controller mechanism
Lee et al. Analysis and optimal design of a new 6 dof parallel type haptic device
CN104874795A (en) Multi-nozzle mechanism
KR20180095171A (en) Series and parallel combined manipulator
Mamdouh et al. Evaluation of a proposed workspace spanning technique for small haptic device based manipulator teleoperation
WO2022051726A1 (en) Compact paired parallel architecture for high-fidelity haptic applications
JP2552977B2 (en) Force feedback type multi-axis operating device
JP2000112649A (en) Three-dimensional space coordinate input device
WO2024048285A1 (en) Articulated robot, articulated robot control method, robot system, and article manufacturing method
KR101826324B1 (en) 4 degree-of-freedom mechanism haptic device

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant