Six-degree-of-freedom control handle

Abstract

The invention discloses a six-degree-of-freedom control handle. The six-degree-of-freedom control handle comprises a base, a shoulder joint, a large arm joint, a small arm joint, an elbow joint, a wrist joint, a hand claw and sensors. The base, the shoulder joint, the large arm joint, the small arm joint, the elbow joint and the wrist joint are connected mutually and sequentially through rotatingshafts in a two-by-two mode, and do swing movement through the rotating shafts in the two-by-two mode. The sensors are inlaid in the rotating shafts and used for collecting angle signals of swing movement. The wrist joint and the hand claw are connected through the rotating shafts and can do 360-degree continuous rotation, and the sensors are arranged on the rotating shafts and used for obtainingthe angle signal of relative rotating between the wrist joint and the hand claw. The six-degree-of-freedom control handle is provided with the multiple joints and has multiple degrees of freedom and multiple functions, operation and control are flexible, reliability is high, the attractive and elegant effects are achieved, complex control signals can be obtained through simple operation, and the six-degree-of-freedom control handle is especially suitable for master-slave control operation of industrial mechanical arms and underwater mechanical arms.

Description

technical field [0001] The invention belongs to the technical field of automatic control, relates to robot technology, and in particular to a 6-degree-of-freedom control handle. Background technique [0002] In order to achieve spatial positioning and posture determination, industrial robotic arms generally have 6 or more degrees of freedom. For robotic arms with more than 6 degrees of freedom, there are multiple degrees of redundancy, and the control is too complicated, unless in a very special It will only be used in special occasions, so most industrial robotic arms have 6 degrees of freedom. When the industrial robotic arm is used in an unstructured environment, especially when the underwater robotic arm is operating, the master-slave control method is more commonly used. At this time, it is necessary to use an external device to send control commands to the robotic arm. Using the control handle is a The more common way. [0003] The control handle of the traditional 6...

AI Technical Summary

Problems solved by technology

[0003] The control handle of the traditional 6-DOF mechanical arm adopts a simple switch button control method. The control handle of this switch button control method usually cannot be used for the mechanical arm that requires precise control, so the application occasions are greatly restricted; It is to use more complicated control handles, even the handles that require two hands to control the 6-DOF robotic arm. These handles are too complicated, which seriously affects the operation of the robotic arm and increases the workload of the operator.

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