Parallel four-bar type structure decoupling six-dimension force feedback device
A technology for decoupling six-dimensional force and parallel four rods, which is applied in the field of decoupling six-dimensional force feedback devices with parallel four rod structures, can solve problems such as force feedback devices with six-dimensional unconditional decoupling that have not yet appeared, and achieve unmatched working space. Restricted, easy-to-control effects that work reliably
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[0025] The technical scheme of the present invention will be further described below in conjunction with the accompanying drawings.
[0026] Fig. 1 is the overall structure diagram of the present invention. As shown in Figure 1, the decoupled six-dimensional force feedback device with a parallel four-bar structure designed in the present invention is composed of a fixed base 1, a three-degree-of-freedom parallel moving unit, and a three-degree-of-freedom parallel-connected rotating unit. The three-degree-of-freedom parallel mobile unit is composed of three mutually orthogonal branches, and each branch is composed of a mobile guide drive 2 , a short link 3 and a long link 4 . The configuration of the mobile guide drive 2 is a parallel four-bar, and is driven by a built-in mobile drive motor. Three sets of mobile guide drives 2 are fixed on the fixed base 1 orthogonally to each other; one end of the short connecting rod 3 is driven by the mobile guide 2 guide, and the other end...
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