Spherical two-degree-of-freedom rocker operating mechanism based on torque sensor joint motor

Abstract

The invention discloses a spherical two-degree-of-freedom rocker operating mechanism based on torque sensor joint motors. The spherical two-degree-of-freedom rocker operating mechanism comprises a base, a rocker, a mounting frame, two joint motors, two torque sensors, two main rotating arms and two auxiliary rotating arms. The mounting frame is fixed on the base; the two joint motors are fixed onthe mounting frame; the output shafts of the two joint motors are provided with the torque sensors respectively. Output shafts of the two joint motors are fixedly connected with first ends of main rotating arms correspondingly. The second ends of the two main rotating arms are rotationally connected with first ends of the auxiliary rotating arms respectively; the second ends of the two auxiliary rotating arms are rotationally connected with each other and arranged on the outer side of the rocker in a sleeving mode, and the axis of the output shaft of each joint motor, the rotating axis betweenthe main rotating arm and the auxiliary rotating arm and the rotating axis between the two auxiliary rotating arms intersect at the rotating point of the lower end of the rocker. After controlling ofthe rotating angles and the angular speeds of the output shafts of the two joint motors, the moving position and the moving speed of the rocker can be controlled.

Description

technical field [0001] The invention relates to the technical field of robot automation, in particular to a spherical two-degree-of-freedom rocker operating mechanism based on a torque sensor joint motor. Background technique [0002] The aircraft sidestick driving device is referred to as the sidestick, which is the offset and improvement of the traditional central control stick. At present, side sticks have been widely used in civil airliners and some fighter jets. In civil aircraft, a dual-axis sidestick is generally used, that is, the sidestick is used to control the pitch and roll of the aircraft. For example, the cockpit control system of the Airbus series aircraft adopts the passive sidestick mechanism as the control input of the roll and pitch systems, and the pilot controls the relevant axes of the aircraft by controlling the lateral and longitudinal movements of the sidestick. [0003] With the development of robot technology and automatic driving technology, rob...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a spherical two-degree-of-freedom rocker operating mechanism based on the torque sensor joint motor, to solve the automatic operation problem of the aircraft side stick, and to complete the operation of the side stick in the robot-assisted flight driving system

Images