Force-feedback teleoperation main hand

Abstract

The invention discloses a force-feedback teleoperation main hand. The force-feedback teleoperation main hand comprises a first connecting rod part, a second connecting rod part, a third connecting rodpart, a fourth connecting rod part, a fifth connecting rod part and a knob part which are sequentially connected, all the connecting rod parts are connected through rotating joints, a potentiometer or an encoder is mounted on each rotating joint, wherein motors and decelerators are mounted at the rotating joints among the first connecting rod part, the second connecting rod part and the third connecting rod part; and the motors are connected with the input ends of the decelerators or the motors and input ends of the decelerators are in transmission connection through synchronous belts, and the output ends of the decelerators are connected with the corresponding potentiometers or the encoders. The force-feedback teleoperation main hand can be fixed for being used, and can also be carried by an operator for moving type operation, movement of all the joints can be controlled by fully using flexibility of human hands, and operation is accurate; and the three joints at the tail ends are compactly laid out together, the structure is small and exquisite, and operating space and flexibility of fingers can be fully used.

Description

technical field [0001] The invention relates to a master-slave teleoperation master hand for a mechanical arm, and belongs to the technical field of industrial robot teleoperation. Background technique [0002] Master-slave teleoperation is the most commonly used manipulation method for human participation in controlling industrial robots. The master-slave robot teleoperation system can perform complex manipulation operations in non-deterministic environments. The telepresence technology creates a harmonious multi-dimensional information interaction environment between human-robot-environment, and the main hand of force feedback teleoperation enables the operator to have a real sense of force in the process of manipulating the operation. [0003] At present, the main hand of teleoperation with force feedback has the problem of large structural size and mass, and can only be used fixedly. The operator's viewing angle is fixed during operation, and there are even blind spots,...

AI Technical Summary

Problems solved by technology

[0004] Chinese patent document 103817682A discloses "a joint-type force feedback teleoperation main hand". The main hand holds the joint at the end, and the axes of the three previous joints are parallel to each other. If you want to control the movement of a certain joint, it is easy to drive other joints In addition, the flexible fingers of the operator are only used to operate buttons and switches, but not to control joint rotation

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