Two-degree of freedom fictitious force feedback device capable of being divided into single-degree of freedom teleoperation devices

Abstract

The invention discloses a two-degree of freedom fictitious force feedback device capable of being divided into single-degree of freedom teleoperation devices. Four circular stand columns are connected with a faceplate and a bottom plate to form a large rack, and a large-torque motor is perpendicularly and fixedly connected below the faceplate; a large simple pendulum arm with a force sensor and an acceleration sensor is fixedly connected to the upper end of a rotating shaft of the large-torque motor through a first coupling band, and an angular displacement sensor is connected to the lower end of the rotating shaft; four short stand columns of which the lower ends are connected with the circular stand columns support a small rack formed by connecting a small faceplate with a base plate through four small stand columns; a small-torque motor is arranged on the small faceplate positioned below the small rack, and the shaft axes of the large-torque motor and the small-torque motor are coincided with each other; a friction transmission wheel is fixedly connected to a rotating shaft of the small-torque motor through a third coupling band; and the root of a small simple pendulum arm similar to the large simple pendulum arm is fixedly connected to the upper end of a transmission wheel shaft arranged on the end part of the large simple pendulum arm vertically, and the transmission wheel shaft is connected with the friction transmission wheel through a steel wire. The device can be divided into a master single-degree of freedom teleoperation device and a slavery single-degree of freedom teleoperation device, and has the characteristics of dual purpose with one machine and low cost, and is flexible to use and convenient to assemble and disassemble.

Description

technical field [0001] The invention relates to a force feedback experimental device for researching human-computer interaction technical problems, in particular to a two-degree-of-freedom virtual force feedback experimental device that can be decomposed into a master-slave single-degree-of-freedom teleoperation experimental device. technical background [0002] The force feedback device is the basic means for virtual reality technology to provide the operator with force perception, which is very important for the operator to interact indirectly with the environment through the teleoperation system. In teleoperation, a virtual reality scene with force feedback can be used to overcome the delay in long-distance communication. With the continuous advancement of modern science and technology, people need more and more applications of virtual force feedback devices, such as virtual surgery, remote or indirect operations called teleoperation in dangerous or harmful environments, ...

AI Technical Summary

Problems solved by technology

[0003] In the traditional multi-degree-of-freedom manipulator arm system, the drive motors that realize the motion of each degree of freedom are directly installed on the basic joints of each arm, which makes the motion control of each joint simple, but causes two shortcomings: one is In addition to the terminal arm, the closer the other arms are to the base end, the greater the self-weight they bear, resulting in a reduction in the maximum net load capacity of each arm and the entire device, reducing the use efficiency and limiting the use range; 2. It is the position of the sensor that detects the movement of each joint arm and the drive cable of the motor must follow the position change and movement of the motor

The audio power amplifier has the advantage of small input and output distortion, but it is limited by its driving ability, that is, the output power

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