Master-slave operation mechanical arm control master manipulator

Abstract

A master-slave operation mechanical arm control master manipulator comprises a mechanical shell, a handle and a plurality of joint sensors, wherein the mechanical shell comprises a bottom shaft assembly, a second shaft assembly, a second-third shaft connecting part assembly, a third shaft assembly, a fourth shaft assembly and a fifth shaft assembly, a switching circuit board is embedded in the bottom shaft assembly, and a driving circuit board and a control card board are embedded in the handle; and the switching circuit board is electrically connected with an external master-slave controllerthrough an aviation connector, the control card board is electrically connected with the switching circuit board through serial port communication and connection interfaces, the driving circuit boardis electrically connected with the switching circuit board through servo driving communication and connection interfaces, the joint sensors are used for collecting angle signals of swing motion, and each joint sensor comprises an encoder and a servo steering engine. Complex master arm signal transmission can be achieved, and multiple degrees of freedom and multiple switch button signals are achieved.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a master-slave manipulator controlling a master hand. Background technique [0002] Master-slave operation is an ancient operation method, and robots have evolved from this method. The earliest master-slave operation robots are two sets of mechanisms with the same structure, which are placed in different places. The master robot is placed in a safe or convenient place, and the slave robot is placed in a place that is not suitable for people. If there is strong radiation, High temperature, underwater and other environments. The operator operates the master robot based on sensor information, such as vision, contact force sense, proximity sense, etc. There is a mechanical coupling between the master robot and the slave robot, and the movement of the master robot is transmitted to the slave robot, and the slave robot follows the movement of the master robot. sports. [0...

AI Technical Summary

Problems solved by technology

[0006] There is a control handle on the main hand, and the control handle adopts a simple switch button control method. The control handle of this switch button control method is usually not used for the mechanical arm that requires precise control, so the application occasions are greatly restricted; Use more complex control handles, even those that require two hands to control the 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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