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Six-freedom-degree reusable terminal frame type parallel force feedback equipment

A feedback device and degree-of-freedom technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of large motion inertia of the force feedback device, and achieve the effect of large feedback force, flexible operation, and expansion of application scenarios.

Active Publication Date: 2017-09-15
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the reduction wheel and the counterweight cause the force feedback device to move in a relatively large moment of inertia

Method used

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  • Six-freedom-degree reusable terminal frame type parallel force feedback equipment
  • Six-freedom-degree reusable terminal frame type parallel force feedback equipment
  • Six-freedom-degree reusable terminal frame type parallel force feedback equipment

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Experimental program
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Embodiment Construction

[0038] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following the described embodiment.

[0039] Such as figure 1 , figure 2 As shown, a frame-type parallel force feedback device with a 6-DOF reusable terminal includes a mechanical mechanism, a drive control module, a terminal attitude acquisition module, and a power supply module. The mechanical mechanism is used to realize the 6-DOF movement at the end of the force feedback device Input and 3-DOF feedback force output, and use the hanging wire counterweight to balance the self-weight; the drive control module is used to realize the motion detection and control of the motor, and control the force feedba...

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Abstract

The invention discloses six-freedom-degree reusable terminal frame type parallel force feedback equipment comprising a mechanical mechanism, a drive control module, a terminal posture collecting module and a power supply module. The mechanical mechanism is used for achieving six-freedom-degree motion input of a force feedback device terminal and three-freedom-degree feedback output and utilizes a suspender balance weight to balance dead load. The drive control module is used for achieving motion detection and control over a motor and controlling force sense output of the force feedback device. The terminal posture collecting module is used for completing angle measurement of vertical pitching, leftward-rightward swinging and rotation in the direction of an arm. The power supply module is used for providing a stable and reliable power source and conducting current overload protection. The six-freedom-degree reusable terminal frame type parallel force feedback equipment has the advantages of being large in feedback force, simple in structure and operation, good in real-time performance, low in cost, flexible in motion and the like.

Description

technical field [0001] The present invention relates to a force feedback device, in particular to a 6-degree-of-freedom frame-type parallel force-feedback device, which can be adapted to a variety of human motion capture devices such as ring-type and pen-type. The device can provide 6-degree-of-freedom motion input and 3 Degree of freedom force sense output. Background technique [0002] In the field of virtual reality technology, it is usually necessary to provide users with visual, auditory, tactile / force-sense feedback, so that users can obtain an immersive multi-sensory experience and a strong sense of presence. At present, there are many mature commercial virtual reality interactive devices on the market, such as data gloves, force feedback devices, VR glasses, etc. Among them, the force feedback device, as a new type of input and output device, can provide users with realistic force feedback. Unlike interactive devices that provide other senses such as hearing, visio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0009B25J9/003B25J9/1602
Inventor 李静蓉刘家武王清辉谢海龙
Owner SOUTH CHINA UNIV OF TECH
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