A Three-dimensional Rotary Mechanism with Force Feedback and Rotational Attitude Measurement

Abstract

The invention discloses a three-dimensional rotation mechanism for force sense feedback and rotation attitude measurement. The three-dimensional rotation mechanism for force sense feedback and rotation attitude measurement is characterized by comprising a rotating shaft A, a rotating shaft C and a rotating shaft B, wherein the rotating shaft A, the rotating shaft C and the rotating shaft B are located in three-dimensional axial directions of X, Y and Z respectively. The rotating shaft A and the rotating shaft B are connected through a connecting part II. The rotating shaft B and the rotating shaft C are connected through a connecting part I. The rotating shaft A, the rotating shaft B and the rotating shaft C are respectively provided with a magneto-rheological damper in the axial direction. An inertia measurement unit is installed on each magneto-rheological damper. According to the technical scheme of the invention, a mechanical structure, a force sense mechanism and a measuring mechanism are combined. Therefore, the force sense output is achieved and the controlling purpose is achieved through the rotation attitude measurement.

Description

Technical field: [0001] The invention relates to a three-dimensional rotation mechanism for force feedback and rotation attitude measurement, which belongs to the technical field. Background technique: [0002] Most of the current similar devices have shortcomings such as coupling of rotational degrees of freedom and low measurement accuracy of rotational angles, and are not suitable for precise control application scenarios. In addition, ordinary three-dimensional rotating mechanisms are mostly purely mechanical structures, which can only perform rotational movements in three coordinate directions in space, without force sense output, and cannot be applied to use scenarios with force sense information output; in addition, ordinary three-dimensional rotating mechanisms lack the ability to rotate Attitude measurement technology cannot accurately measure the rotation angle on the three coordinate axes, and cannot synchronize the rotation attitude to the control end. Contents...

AI Technical Summary

Problems solved by technology

[0002] Most of the current similar devices have shortcomings such as coupling of rotational degrees of freedom and low measurement accuracy of rotational angles, which are not suitable for precise control application scenarios

In addition, ordinary three-dimensional rotating mechanisms are mostly purely mechanical structures, which can only perform rotational movements in three coordinate directions in space, without force sense output, and cannot be applied to use scenarios with force sense information output; in addition, ordinary three-dimensional rotating mechanisms lack the ability to rotate Attitude measurement technology cannot accurately measure the rotation angle on the three coordinate axes, and cannot synchronize the rotation attitude to the control terminal

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