CN106808461B - The method of its realization remote operation of magnetorheological force feedback type data glove and application - Google Patents
The method of its realization remote operation of magnetorheological force feedback type data glove and application Download PDFInfo
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- CN106808461B CN106808461B CN201710156980.8A CN201710156980A CN106808461B CN 106808461 B CN106808461 B CN 106808461B CN 201710156980 A CN201710156980 A CN 201710156980A CN 106808461 B CN106808461 B CN 106808461B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
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Abstract
The invention discloses a kind of methods of its realization remote operation of magnetorheological force feedback type data glove and application, gloves include mechanical part and control system part, mechanical part includes bracket, four four be arranged in front of bracket finger connection rod set and a thumb connection rod set, the MR damper that cradle top is arranged in, four refer to that the joint of connection rod set and thumb connection rod set distinguishes setting angle sensor, angular transducer, MR damper are connect with control system part respectively, are constituted power by angular transducer, MR damper and are felt come source mechanism.The invention also discloses application, the gloves realize the method remotely operated, have the advantages that the comfort of operation is high, realize that telepresenc is good, during operator being made more really to be dissolved into operation.
Description
Technical field
The present invention relates to data glove field, specifically a kind of magnetorheological force feedback type data glove and its realization of application are remote
The method of journey operation.
Background technique
In the complexity such as aerospace, deep ocean work, nuclear industry, uncertain or non-accessible environment, need using
Robot carries out operation.Due to the restriction of robot level, most of tasks can not be completed independently, generally require operator into
Row monitoring.By means of vision, touch feedback, accurate control of the remote operating equipment realization to tele-robotic is can be used in operator
System.
A kind of equipment of the data glove as human-computer interaction, major function are to aid in operator and are come in fact by means of visual feedback
Now to the accurate control of tele-robotic.The effect of the various dangerous works of robot can have not only been played in this way, but also can have been played
The intelligence and key decision of operator acts on.
Traditional data glove generally can more accurately measure between the corner and finger of each finger-joint
Angle, and then long-range robot is accurately controlled according to the data of measurement.However, operator can not pass through data hand
It covers to perceive the dynamics of crawl object, has lacked a kind of telepresenc, so that the difficulty of control remote mechanical hand is increased, to Mr. Yu
A little fine tasks are even unable to complete.Therefore, a kind of remote operating equipment that telepresenc may be implemented is developed, for slave
The control of device people has great application value.
The Chinese patent application of Publication No. CN 100372503C discloses a kind of force feedback based on Pneumatic artificial muscle
Data glove.The Chinese patent application of Publication No. CN 2772746 discloses a kind of endoskeleton formula based on MR damper
Force feedback data gloves, these devices can be realized certain telepresenc in the control of principal and subordinate robot, but there are still some
Problem: (1) the former is a kind of active power feel playback system, although these power are capable of providing enough power feels and feed back, but its
Once breaking down, it is easy to damage to operator；Secondly stability is poor, and force feedback performance is made to have a greatly reduced quality；(2) the latter adopts
With MR damper, inside palm, this force feedback data gloves limit driver since driver is inside palm
The proper motion of manpower, so that in the realization for influencing telepresenc.It is therefore desirable to invent a kind of force feedback data gloves, make
It can either realize that safely and effectively power is felt and reproduce, and can not interfere with telepresenc in the case where not destroying its function
It realizes.
In view of the above-mentioned defects in the prior art and Improvement requirement, the object of the present invention is to provide a kind of magnetic currents for summary of the invention
Its method for realizing remote operation of variable force reaction type data glove and application, with meet to the control of the remote operating of principal and subordinate robot with
And preferably realize telepresenc.
In order to achieve the above object, the technical scheme adopted by the invention is as follows:
Magnetorheological force feedback type data glove, it is characterised in that: including mechanical part and control system part, mechanical part
Including bracket, the four finger connection rod sets corresponded in human hands index finger, middle finger, ring finger and little finger are equipped in front of frame bottom,
And the thumb connection rod set corresponding to human hands thumb, the structure of four four finger connection rod sets is identical, corresponding on rear side of cradle top
Four four finger connection rod sets and a thumb connection rod set rear end are respectively arranged with MR damper, the piston of MR damper
Bar rod end is respectively directed to front, in which:
Each four fingers connection rod set respectively includes being successively set on the nearly finger tip fingerstall of four fingers, four fingers in front of bracket from back to front
Middle finger tip fingerstall, four refer to remote finger tip fingerstall, four refer to nearly finger tip fingerstall and four refer between finger tip fingerstall, four refer in finger tip fingerstall with
It is articulated and connected between the remote finger tip fingerstall of four fingers, four refer to that be hinged with and tilt upward at the top of remote finger tip fingerstall four refer to connecting rod VII, and four refer to
Be hinged with four tilted upward at the top of middle finger tip fingerstall and refer to connecting rod VI, four finger connecting rod VI, the four finger upper ends connecting rod VII be hinged and
Hinged place constitutes four and refers to distal joint point, refers to that connecting rod VI, four refer to connecting rod by finger tip fingerstall, four in the remote finger tip fingerstall of four fingers, four fingers
VII constitutes a four-bar linkage；Four refer to that be hinged with and tilt upward at the top of nearly finger tip fingerstall four refer to connecting rod IV, and four refer to connecting rod
Four finger connecting rod V are hinged between the upper end IV and 4 finger distal joint points, and four refer to that connecting rod V and four refers to that the hinged place connecting rod IV constitutes four
Refer to middle joint point, refers to that nearly finger tip fingerstall, four finger connecting rod IV, four refer to that connecting rod V is in parallel and constitute plane by four-bar linkage with four
Multi-bar linkage；It is hinged with four finger connecting rod III backward at 4 finger middle joint points in Planar Linkages, after four refer to connecting rod III
End is hinged with four finger connecting rod II diagonally downward, and four refer to that connecting rod III and four refer to that the hinged places connecting rod II constitute four and refer to proximal joint
Point, the four finger lower ends connecting rod II are hinged on front side of frame bottom, constitute Planar Linkages with four refer to connecting rod II, four finger connecting rod III,
The parallel relationship of bracket；Inclination is connected with four finger connecting rod I rearwardly and upwardly at 4 finger proximal joint points, and four refer to the rear end connecting rod I and position
It sets in corresponding MR damper and is hinged with sliding block between piston rod rod end；
The thumb connection rod set includes that the nearly finger tip fingerstall of thumb, the thumb being successively set in front of bracket from back to front far refer to
Fingerstall is held, is articulated and connected between the nearly finger tip fingerstall of thumb, the remote finger tip fingerstall of thumb, thumb remote finger tip fingerstall top is hinged with inclination
Upward thumb connecting rod I, thumb nearly finger tip fingerstall top are hinged with the thumb connecting rod III tilted upward, the thumb upper end connecting rod I with
The upper end thumb connecting rod III is hinged and hinged place constitutes thumb joint point, is referred to by the nearly finger tip fingerstall of thumb, the remote finger tip of thumb
Set, thumb connecting rod III, thumb connecting rod I constitute a four-bar linkage；The nearly finger tip fingerstall of thumb refers to connection rod set towards nearest four
Medial surface be hinged with thumb connecting rod II, thumb connecting rod II is to extending on the inside of the nearly finger tip fingerstall of thumb；On front side of the frame bottom
Corresponding thumb connection rod set position is equipped with three axis spherical hinges, and flexural pivot is connected to thumb connecting rod backward in three hinged mouths of axis spherical hinge one
VI tilts upward flexural pivot in three axis spherical hinge another hinged mouth and is connected to thumb connecting rod VIII, and three axis spherical hinge thirds are hinged
Thumb connecting rod IV, middle finger connecting rod IV rod end and thumb connecting rod II rod end are connected to thumb connection rod set interior direction flexural pivot in mouthful
Between be hinged with thumb connecting rod VIIII, and thumb connecting rod VIIII and the hinged place thumb connecting rod II constitute thumb entoparartis,
Thumb connecting rod VII is hinged between thumb connecting rod VIII rod end and thumb joint point, the rear end thumb connecting rod VI is hinged with thumb backward
Refer to connecting rod V, is hinged with sliding block between piston rod rod end in the MR damper corresponding with position of the thumb rear end connecting rod V；
Angle sensor is respectively equipped at the four four each artis of finger connection rod set, at each artis of thumb connection rod set
Device, the angular transducer, MR damper are connect with control system part respectively, by angular transducer, magnetorheological damping
Device constitutes power feel and carrys out source mechanism.
The magnetorheological force feedback type data glove, the control system part include data collecting card, computer, two
Group current controller, D/A converter, A/D converter, from robot, the computer is connect with data collecting card both-way communication,
Angular transducer output end at each artis passes through A/D converter respectively and the signal input part of data collecting card connects,
The signal output end of data collecting card is connected by the input terminal of D/A converter and current controller, the output of current controller
End is correspondingly connected with the signal input part from robot finger；The output signal of all angles sensor enters first group of A/D and turns
Parallel operation carries out the analog-to-digital conversion of signal, is then respectively fed to data collecting card；
It is connected from the signal output end of the finger of robot by the signal input part of A/D converter and data collecting card,
The signal output end of data collecting card is connect by D/A converter with current controller, current controller output end and each magnetic
The connection of rheological damper input terminal；From the signal of the finger of robot be input to A/D converter carry out signal conversion, then
Data collect data collecting card, carry out the conversion of signal by D/A converter after data collecting card, then pass to electric current
Controller, by current controller, signal carries out feedback control to MR damper based on the received.
A method of it realizes and remotely operates using magnetorheological force feedback type data glove, it is characterised in that: for by power
Feedback operation method, comprising the following steps:
(1) system initialization is carried out, adjusts the angle the initial value of sensor, MR damper is in power failure state；
(2) instruction opening control system is issued by computer, operator sees from the interaction of machine human and environment, is grabbed
It holds；During grasping, angular transducer acquires the angular signal in each joint of finger of link mechanism measurement；
(3) angular signal collected is input to data collecting card after A/D converter, and the mistake of grasping is acquired by computer
The angle rotated required for Cheng Zhongcong robot；
(4) computer exports control signal to data collecting card according to the angle of required rotation, after D/A converter
Driving carries out grasping operation from robot；
(5) during grasping article from robot, the force signal suffered by the robot is collected, through A/D converter
After be input to data collecting card；
(6) computer according to the feedback force generated needed for calculating from the case where robot stress and then calculates required
Current value is controlled, then exports control signal to data collecting card, control MR damper generates certain damping force, in turn
Operator is set to experience power feel；
(7) when the suffered feedback force of operator's feeling is not enough to hold steadily article, the process of (2) ~ (6) is repeated, directly
Feel that power is enough to pick up article to operator.
The present invention provides a kind of magnetorheological force feedback type data glove of the exoskeleton-type for realizing remote operating and method, fits
For remote operating field telepresenc in terms of research application.It has the following beneficial effects:
(1) the advantages that MR damper is a kind of energy-dissipating intelligent device, has safety, is stablized, small in size.
By passively force feedback, certain feedback force is provided for the hand of operator by MR damper, in combination with angle sensor
Device detects the scope of activities of finger-joint, is conducive to the comfort for improving operation, preferably realizes telepresenc.
(2) when operator grasps, the structural member of endoskeleton formula force feedback data gloves can make the realization of telepresenc
It has a greatly reduced quality, and exoskeleton-type force feedback data gloves of the invention then avoid the generation of this destruction, make operator more
It really experiences on the spot in person.
(3) data detected by control elements such as angular transducers, and feed back in computer, to obtain from machine
The current grasping state of people, operator according to the power experienced feel feedback judgement can stable grasping get up to carry out in next step
Operation, during making operator more really be dissolved into operation.
Detailed description of the invention
Fig. 1 is the magnetorheological force feedback type data glove structure chart of the present invention.
Fig. 2 is that the magnetorheological force feedback type data glove of present invention application realizes remote operation method block diagram.
Fig. 3 is that the present invention four refers to connection rod set structure chart.
Fig. 4 is thumb connection rod set structure chart of the present invention.
Fig. 5 is spherical hinge structure chart of the present invention.
Fig. 6 is finger joint connection figure of the present invention.
Fig. 7 is the schematic diagram of mechanism that the present invention four refers to connection rod set.
Fig. 8 is the schematic diagram of mechanism of thumb connection rod set of the present invention.
Fig. 9 is that the magnetorheological force feedback type data glove of present invention application realizes remote operation flow chart.
Specific embodiment
As shown in Fig. 1, Fig. 3-Fig. 8, magnetorheological force feedback type data glove, including mechanical part and control system part,
Mechanical part includes bracket 5, and 5 bottom front of bracket, which is equipped with, to be corresponded in human hands index finger, middle finger, ring finger and little finger
Four refer to connection rod set 1, and corresponding to the thumb connection rod set 3 of human hands thumb, the structure of four four finger connection rod sets 1 is identical, branch
The corresponding four four finger connection rod sets 1 of 5 top rear of frame and 3 rear end of thumb connection rod set are respectively arranged with MR damper
6, the piston rod rod end of MR damper 6 is respectively directed to front, in which:
As shown in Fig. 3, Fig. 7, each four fingers connection rod set 1 respectively includes being successively set on four fingers in front of bracket from back to front
Finger tip fingerstall 1.2, four refers to remote finger tip fingerstall 1.12 in nearly 1.3, four finger of finger tip fingerstall, and four refer in nearly finger tip fingerstall 1.3 and four fingers
It is articulated and connected between finger tip fingerstall 1.2 and the remote finger tip fingerstall 1.12 of four fingers between finger tip fingerstall 1.2, in four fingers, four refer to remote finger tip
It is hinged with four tilted upward at the top of fingerstall 1.12 and refers to connecting rod VII1.11, is hinged with and is tilted towards at the top of finger tip fingerstall 1.2 in four fingers
On four refer to connecting rod VI1.10, four finger connecting rod VI1.10, four finger the upper ends connecting rod VII1.11 be hinged and hinged place constitute four refer to
Distal joint point refers to that finger tip fingerstall 1.2, four refers to that connecting rod VI1.10, four refer to connecting rods in the remote finger of finger tip fingerstall 1.12, four by four
VII1.11 constitutes a four-bar linkage；Four refer to that be hinged with and tilt upward at the top of nearly finger tip fingerstall 1.3 four refer to connecting rod
IV1.8 is hinged with four finger connecting rod V1.9 between the four finger upper ends connecting rod IV1.8 and 4 finger distal joint points, and four refer to connecting rod V1.9
Refer to that the hinged place connecting rod IV1.8 constitutes four and refers to middle joint point with four, nearly finger tip fingerstall 1.3, four is referred to by four-bar linkage and four
Refer to that connecting rod IV1.8, four refer to that connecting rod V1.9 parallel connection constitutes Planar Linkages；Four in Planar Linkages refer at middle joint point
It is hinged with four finger connecting rod III1.7 backward, the four finger rear ends connecting rod III1.7 are hinged with four finger connecting rod II1.6 diagonally downward, and four
Refer to that connecting rod III1.7 and four refers to that the hinged place connecting rod II1.6 constitutes four and refers to proximal joint point, four finger 6 lower ends connecting rod II1. are hinged on
5 lower front of bracket constitutes Planar Linkages with four and refers to that connecting rod II1. 6, four refers to the pass in parallel of connecting rod III1.7, bracket 5
System；Inclination is connected with four finger connecting rod I1.5 rearwardly and upwardly at 4 finger proximal joint points, and four refer to that the rear end connecting rod I1.5 is corresponding with position
MR damper in be hinged with sliding block 1.4 between piston rod rod end；
As shown in Fig. 4, Fig. 5, Fig. 8, thumb connection rod set 3 is close including the thumb for being successively set on 5 front of bracket from back to front
Finger tip fingerstall 3.3, thumb remote finger tip fingerstall 3.1 hingedly connect between the nearly finger tip fingerstall 3.3 of thumb, the remote finger tip fingerstall 3.1 of thumb
It connects, remote 3.1 top of finger tip fingerstall of thumb is hinged with the thumb connecting rod I3.2 tilted upward, nearly 3.3 top of the finger tip fingerstall hinge of thumb
It is connected to the thumb connecting rod III3.5 tilted upward, the thumb upper end connecting rod I3.2 is hinged and cuts with scissors with the upper end thumb connecting rod III3.5
It meets place and constitutes thumb joint point, by the nearly finger tip fingerstall 3.3 of thumb, the remote finger tip fingerstall 3.1 of thumb, thumb connecting rod III3.5, thumb
Connecting rod I3.2 constitutes a four-bar linkage；The nearly finger tip fingerstall 3.3 of thumb refers to that the medial surface of connection rod set is hinged towards nearest four
There is a thumb connecting rod II3.4, thumb connecting rod II3.4 is to extending on the inside of the nearly finger tip fingerstall 3.3 of thumb；5 lower front of bracket corresponds to thumb
Refer to that 3 position of connection rod set is equipped with three axis spherical hinges 4, flexural pivot is connected to thumb connecting rod backward in three hinged mouths of axis spherical hinge 4 one
VI3.9 tilts upward flexural pivot in three axis spherical hinge 4 another hinged mouth and is connected to thumb connecting rod VIII3.11, three axis spherical hinges 4
Thumb connecting rod IV3.6, middle finger connecting rod IV3.6 rod end are connected to 3 interior direction flexural pivot of thumb connection rod set in three hinged mouths
Thumb connecting rod VIIII3.13, and thumb connecting rod VIIII3.13 and thumb connecting rod are hinged between thumb connecting rod II3.4 rod end
The hinged place II3.4 constitutes thumb entoparartis, is hinged with thumb between thumb connecting rod VIII3.11 rod end and thumb joint point
The rear end connecting rod VII3.10, thumb connecting rod VI3.9 is hinged with thumb connecting rod V3.8, the thumb rear end connecting rod V3.8 and position pair backward
Sliding block 3.7 is hinged in the MR damper answered between piston rod rod end；
Angle biography is respectively equipped at the four four each artis of finger connection rod set 1, at each artis of thumb connection rod set 3
Sensor 2, angular transducer 2, MR damper 6 are connect with control system part respectively, by angular transducer 2, magnetic current variable resistance
Buddhist nun's device 6 constitutes power feel and carrys out source mechanism.
As shown in Fig. 2, control system part include data collecting card, computer, two groups of current controllers, D/A converter,
A/D converter, from robot, computer is connect with data collecting card both-way communication, and the angular transducer at each artis is defeated
Outlet passes through A/D converter respectively and the signal input part of data collecting card connects, and the signal output end of data collecting card passes through
The connection of the input terminal of D/A converter and current controller, the output end of current controller are inputted with from the signal of robot finger
End is correspondingly connected with；The output signal of all angles sensor enters the analog-to-digital conversion that first group of A/D converter carries out signal, then
It is respectively fed to data collecting card；
It is connected from the signal output end of the finger of robot by the signal input part of A/D converter and data collecting card,
The signal output end of data collecting card is connect by D/A converter with current controller, current controller output end and each magnetic
The connection of rheological damper input terminal；From the signal of the finger of robot be input to A/D converter carry out signal conversion, then
Data collect data collecting card, carry out the conversion of signal by D/A converter after data collecting card, then pass to electric current
Controller, by current controller, signal carries out feedback control to MR damper based on the received.
The present invention refers to connection rod sets 1, bracket 5, three axis by the four of thumb connection rod set 3 and index finger, middle finger, the third finger and little finger of toe
Spherical hinge 4, the angular transducer 2 for being mounted on each joint and each connection rod set sliding block output par, c are connected magnetorheological
Damper 6 forms.
As shown in Figure 3 and Figure 7, four finger connection rod sets 1 are to refer to that connecting rod I1.5, four refer to that connecting rod II1.6, four refer to connecting rod by four
III1.7, four refer to that connecting rod IV1.8, four refer to that connecting rod V1.9, four refer to that VI1.10, four refer to connecting rod VII1.11, sliding block 1.4, four to refer to far and refer to
Finger tip fingerstall 1.2, four in the finger of fingerstall 1.12, four is held to refer to nearly finger tip fingerstall 1.3, adjustable bandage 1.13 and MR damper
7 be connected by a hinge by schematic diagram of mechanism shown in Fig. 7 is constituted, and there are three freedom degrees for this mechanism, passes through the three of operator
The movement in a joint drives the movement of three fingerstall to obtain the movement of a determining sliding block 1.4；The hinge connection passes through
Nickel plating screw Primary-secondary rivet 1.1 is attached.
As shown in Figure 4 and Figure 8, thumb connection rod set 3 be by the remote finger tip fingerstall 3.1 of thumb, the nearly finger tip fingerstall 3.3 of thumb,
Thumb connecting rod I3.2, thumb connecting rod II3.4, thumb connecting rod III3.5, thumb connecting rod IV3.6, thumb connecting rod V3.8, thumb connecting rod
VI3.9, thumb connecting rod VII3.10, thumb connecting rod VIII3.11, sliding block 3.7, adjustable bandage 3.12 and MR damper
7 be connected by a hinge by schematic diagram of mechanism shown in Fig. 8 is constituted, and there are three freedom degrees for this mechanism, passes through the big thumb of operator
The transverse movement of the rotation and thumb that refer to two joints drives the movement of fingerstall to obtain the movement of a determining sliding block.
All hinge connections of the same race are realized by nickel plating screw Primary-secondary rivet 1.1 respectively.
As shown in Fig. 2, KMZ41 type angular transducer 2 is mounted between the hinge in each joint, it is used to acquisition in real time
The angle information in each joint, A/D converter and D/A converter are used to carry out to turn between necessary analog quantity and digital quantity
It changes.Data collecting card is used to collect collected angle information and the angle fed back from robot and power feels information.Computer
For handling the data of data collecting card collection preferably to carry out human-computer interaction.Current controller acts on of both having,
On the one hand it is to change the size in magnetic field by the size of change electric current to control damping force caused by MR damper
Size；Further aspect is that controlling from information such as bending angle and the power feels of the finger of robot.
If Fig. 5 is three axis spherical hinges 4 employed in thumb connection rod set of the present invention mechanism, it is excellent by space spherical hinge
The power of both direction in space is connected on a direction by point, and then is connected to MR damper 6 and is carried out power feel feedback.
It is illustrated in figure 6 the connection type of finger joint and finger joint of the invention, is referred in the end of previous finger joint and the latter
A hinge hole is stretched out in the front end of section respectively, and two finger joints are then carried out to hinged, realization by nickel plating screw Primary-secondary rivet 1.1
The rotation of the lucky simulated operator finger-joint of the relative motion of two finger joints.
As shown in figure 9, a kind of method for realizing remote operating using magnetorheological force feedback type data glove, specific implementation step
It is as follows:
(1) system initialization is carried out, adjusts the angle the initial value of sensor, MR damper is in power failure state；
(2) instruction opening control system is issued by computer, operator sees from the interaction of machine human and environment, is grabbed
It holds.During grasping, the angular signal in each joint of finger of each angular transducer acquisition connection rod set measurement；
(3) angular signal collected is input to data collecting card after A/D converter, and the mistake of grasping is acquired by computer
The angle rotated required for Cheng Zhongcong robot；
(4) computer exports control signal to data collecting card according to the angle of required rotation, after D/A converter
Driving carries out grasping operation from robot；
(5) during grasping article from robot, the force signal suffered by the robot is collected, through A/D converter
After be input to data collecting card；
(6) computer according to the feedback force generated needed for calculating from the case where robot stress and then calculates required
Current value is controlled, then exports control signal to data collecting card, control MR damper generates certain power and feels.
(7) when the suffered feedback force of operator's feeling is not enough to hold steadily article, the process of (2) ~ (6) is repeated, directly
Feel that power is enough to pick up article to operator.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (3)
1. magnetorheological force feedback type data glove, it is characterised in that: including mechanical part and control system part, Machinery Ministry subpackage
Bracket is included, the four finger connection rod sets corresponded in human hands index finger, middle finger, ring finger and little finger are equipped in front of frame bottom, with
And the thumb connection rod set corresponding to human hands thumb, the structure of four four finger connection rod sets is identical, corresponding four on rear side of cradle top
A four finger connection rod set and a thumb connection rod set rear end are respectively arranged with MR damper, the piston rod of MR damper
Rod end is respectively directed to front, in which:
Each four fingers connection rod set respectively includes being successively set on the nearly finger tip fingerstall of four fingers, four finger middle fingers in front of bracket from back to front
Fingerstall, four are held to refer to remote finger tip fingerstall, four refer to that finger tip fingerstall and four refers between finger tip fingerstall, in four fingers in nearly finger tip fingerstall and four fingers
It is articulated and connected between remote finger tip fingerstall, four refer to that be hinged with and tilt upward at the top of remote finger tip fingerstall four refer to connecting rod VII, and four refer to middle finger
It is hinged with four tilted upward at the top of the fingerstall of end and refers to connecting rod VI, four finger connecting rod VI, the four finger upper ends connecting rod VII are hinged and hingedly
Place constitutes four and refers to distal joint point, refers to that connecting rod VI, four refer to connecting rod VII structure by finger tip fingerstall, four in the remote finger tip fingerstall of four fingers, four fingers
At a four-bar linkage；Four refer to that be hinged with and tilt upward at the top of nearly finger tip fingerstall four refer to connecting rod IV, and four refer on connecting rod IV
It holds and is hinged with four finger connecting rod V between 4 finger distal joint points, and four refer to that connecting rod V and four refer to that the hinged places connecting rod IV are constituted in four fingers
Between artis, refer to that nearly finger tip fingerstall, four finger connecting rod IV, four refer to that connecting rod V is in parallel and constitute the more bars of plane by four-bar linkage with four
Mechanism；Four finger connecting rod III are hinged at 4 finger middle joint points in Planar Linkages backward, four refer to the rear end connecting rod III hinge
Be connected to diagonally downward four refer to connecting rod II, and four refer to connecting rod III with four refer to the hinged places connecting rod II constitute four finger proximal joint points, four
Refer to that the lower end connecting rod II is hinged on front side of frame bottom, constitutes Planar Linkages and four and refer to that connecting rod II, four refer to connecting rod III, bracket
Parallel relationship；Inclination is connected with four finger connecting rod I rearwardly and upwardly at 4 finger proximal joint points, and four refer to the rear end connecting rod I and position pair
Sliding block is hinged between piston rod rod end in the MR damper answered；
The thumb connection rod set includes that the nearly finger tip fingerstall of thumb, the remote finger tip of thumb being successively set in front of bracket from back to front refer to
Set, is articulated and connected, thumb remote finger tip fingerstall top, which is hinged with, to be tilted upward between the nearly finger tip fingerstall of thumb, the remote finger tip fingerstall of thumb
Thumb connecting rod I, thumb nearly finger tip fingerstall top is hinged with the thumb connecting rod III tilted upward, the thumb upper end connecting rod I and thumb
The upper end connecting rod III is hinged and hinged place constitutes thumb joint point, by the nearly finger tip fingerstall of thumb, the remote finger tip fingerstall of thumb, thumb
Refer to that connecting rod III, thumb connecting rod I constitute a four-bar linkage；The nearly finger tip fingerstall of thumb refers in connection rod set towards nearest four
It is hinged at thumb connecting rod II, thumb connecting rod II extends to the nearly finger tip fingerstall inside of thumb；It is corresponding on front side of the frame bottom
Thumb connection rod set position is equipped with three axis spherical hinges, and flexural pivot is connected to thumb connecting rod VI backward in three hinged mouths of axis spherical hinge one, and three
Tilt upward flexural pivot in another hinged mouth of axis spherical hinge and be connected to thumb connecting rod VIII, in three axis spherical hinge third hinged mouths to
Thumb connection rod set interior direction flexural pivot is connected to thumb connecting rod IV, cuts with scissors between middle finger connecting rod IV rod end and thumb connecting rod II rod end
It is connected to thumb connecting rod VIIII, and thumb connecting rod VIIII and the hinged place thumb connecting rod II constitute thumb entoparartis, thumb connects
Thumb connecting rod VII is hinged between bar VIII rod end and thumb joint point, the rear end thumb connecting rod VI is hinged with thumb connecting rod backward
V is hinged with sliding block between piston rod rod end in the MR damper corresponding with position of the thumb rear end connecting rod V；
It is respectively equipped with angular transducer at the four four each artis of finger connection rod set, at each artis of thumb connection rod set,
The angular transducer, MR damper are connect with control system part respectively, by angular transducer, MR damper structure
Cheng Lijue carrys out source mechanism.
2. magnetorheological force feedback type data glove according to claim 1, it is characterised in that: the control system part packet
Include data collecting card, computer, two groups of current controllers, D/A converter, A/D converter, from robot, the computer with
Data collecting card both-way communication connects, and the angular transducer output end at each artis passes through A/D converter and data respectively
The signal input part of capture card connects, and the signal output end of data collecting card passes through the input of D/A converter and current controller
End connection, the output end of current controller are correspondingly connected with the signal input part from robot finger；All angles sensor
Output signal enters the analog-to-digital conversion that first group of A/D converter carries out signal, is then respectively fed to data collecting card；
It is connected from the signal output end of the finger of robot by the signal input part of A/D converter and data collecting card, data
The signal output end of capture card is connect by D/A converter with current controller, current controller output end with it is each magnetorheological
The connection of damper input terminal；It is input to the conversion that A/D converter carries out signal from the signal of the finger of robot, then data
Data collecting card is collected, the conversion of signal is carried out by D/A converter after data collecting card, then passes to current control
Device, by current controller, signal carries out feedback control to MR damper based on the received.
3. a kind of method for realizing remote operation using magnetorheological force feedback type data glove as claimed in claim 2, feature
It is: for by power feedback operating method, comprising the following steps:
(1) system initialization is carried out, adjusts the angle the initial value of sensor, MR damper is in power failure state；
(2) instruction opening control system is issued by computer, operator sees from the interaction of machine human and environment, is grasped；
During grasping, angular transducer acquires the angular signal in each joint of finger of link mechanism measurement；
(3) angular signal collected is input to data collecting card after A/D converter, during acquiring grasping by computer
The angle of the rotation required for robot；
(4) computer exports control signal to data collecting card according to the angle of required rotation, drives after D/A converter
Grasping operation is carried out from robot；
(5) during grasping article from robot, the force signal suffered by the robot is collected, it is defeated after A/D converter
Enter to data collecting card；
(6) computer according to the feedback force generated needed for calculating from the case where robot stress and then calculates required control
Then current value exports control signal to data collecting card, control MR damper generates certain damping force, and then makes to grasp
Author experiences power feel；
(7) when the suffered feedback force of operator's feeling is not enough to hold steadily article, the process of (2) ~ (6) is repeated, until behaviour
Author feels that power is enough to pick up article.
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| CN108121450B (en) * | 2018-01-15 | 2020-08-11 | 合肥工业大学 | Magneto-rheological force feedback data glove based on transmission of wire tube and steel wire rope |
| CN108646916B (en) * | 2018-05-03 | 2024-01-30 | 广东省智能制造研究所 | Feedback glove for virtual reality |
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| CN110039507A (en) * | 2019-04-09 | 2019-07-23 | 华南理工大学 | A kind of remote control system and method based on ectoskeleton data glove and myoelectricity bracelet |
| CN110625591A (en) * | 2019-04-09 | 2019-12-31 | 华南理工大学 | Teleoperation system and method based on exoskeleton data gloves and teleoperation rod |
| CN111813259B (en) * | 2020-06-05 | 2023-08-22 | 南京信息工程大学 | Finger stall type force touch device for touch screen and feedback control method thereof |
| CN112720404B (en) * | 2020-12-23 | 2022-06-28 | 航天时代电子技术股份有限公司 | Remote control glove |
| CN112783323B (en) * | 2020-12-23 | 2024-05-24 | 航天时代电子技术股份有限公司 | Hand wearable teleoperation equipment |
| CN112356014B (en) * | 2021-01-11 | 2021-06-01 | 中国科学院自动化研究所 | Under-actuated coupling self-adaptive hand exoskeleton robot |
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