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Wearable six-dimension force sense interaction device with redundant freedom degrees

An interactive device and a technology of degrees of freedom, applied in the direction of manufacturing tools, manipulators, etc., can solve the problems of not considering operator fatigue and increasing operation error rate, and achieve the effect of reducing human fatigue, increasing error rate, and realizing gravity compensation

Inactive Publication Date: 2013-10-02
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Existing force-sense interaction devices are mainly desktop-type, and do not consider the fatigue caused by the suspension of the arm during the long-term operation of the operator, which objectively increases the error rate of the operation

Method used

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  • Wearable six-dimension force sense interaction device with redundant freedom degrees
  • Wearable six-dimension force sense interaction device with redundant freedom degrees
  • Wearable six-dimension force sense interaction device with redundant freedom degrees

Examples

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Embodiment Construction

[0048] The present embodiment is described in detail below in conjunction with accompanying drawing:

[0049] See eg figure 1 As shown, the present invention is a wearable six-dimensional force-sense interaction device with redundant degrees of freedom. There are six parts: the internal holding mechanism, the six-dimensional force sensor and the driving motor.

[0050] The whole of the present invention can be installed and fixed on any horizontal working platform.

[0051] (1) Z-axis rotary base

[0052] see Figure 2-5, 7, the Z-axis rotary base part is used to complete the rotation of the entire device in the horizontal plane, including the base mounting base plate, base support part, base turntable and base motor part.

[0053] see figure 2 , 5 As shown in , 7, the base support column of the base support part is installed and fixed on the upper surface of the base plate through the front mounting hole of the base mounting base plate. The base support column is fixe...

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Abstract

The invention discloses a general type six-dimension force sense interaction device with seven freedom degrees. The device is composed of a Z axis rotation substrate, a shoulder joint mechanical arm, an elbow joint mechanical arm, a bias spherical wrist holding mechanism, a six-dimension force sensor and drive motors. The shoulder joint mechanical arm is installed on the Z axis rotation substrate through a revolute pair, the elbow joint mechanical arm is installed at the tail end of the shoulder joint mechanical arm, the bias spherical wrist holding mechanism is fixed at one end of the elbow joint mechanical arm, the six-dimension force sensor is fixed on the holding mechanism, and the seven freedom degrees of the interaction device respectively exert feedback force through seven sets of drive motors. An operator achieves complex interactive operation through the bias spherical wrist holding mechanism. The general type six-dimension force sense interaction device with the seven freedom degrees is simple in structure, flexible in operation, free of singular points in mechanism motion, simple in mechanical kinetic model and convenient to control, and moreover, a U-type support at the elbow can reduce fatigue of the operator and increase comfort of the operation.

Description

technical field [0001] The patent of the present invention relates to a wearable six-dimensional force-sense interaction device with redundant degrees of freedom. The design of redundant degrees of freedom can well realize the work in the human arm operating space, and it is a device that can operate in multiple forces. A general-purpose device for use in visually interactive environments. Background technique [0002] Teleoperation technology (Teleoperation) is an important concept in the study of teleoperation robots. Teleoperation technology is an important technology in robotics. After years of development, it has achieved great applications. Our country started the research of teleoperation robot system in the 1980s, and in the 863 high-tech plan, telepresence teleoperation technology was listed as a key technology for research, and staged progress has been achieved. [0003] The force feedback device is the key to truly realize human-computer interaction. The force fe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J3/00B25J13/00B25J13/08
Inventor 丑武胜张旭龙刘永
Owner BEIHANG UNIV
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