CN108161883B - Force feedback teleoperation master hand - Google Patents
Force feedback teleoperation master hand Download PDFInfo
- Publication number
- CN108161883B CN108161883B CN201810017875.0A CN201810017875A CN108161883B CN 108161883 B CN108161883 B CN 108161883B CN 201810017875 A CN201810017875 A CN 201810017875A CN 108161883 B CN108161883 B CN 108161883B
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- connecting rod
- speed reducer
- potentiometer
- shell
- motor
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 70
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 238000013016 damping Methods 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The utility model provides a force feedback teleoperation master hand, including the first connecting rod part that connects gradually, the second connecting rod part, the third connecting rod part, the fourth connecting rod part, fifth connecting rod part and knob part, all connect through rotary joint between each connecting rod part, all install potentiometer or encoder on every rotary joint, wherein install motor and speed reducer on the rotary joint of junction between first connecting rod part, second connecting rod part and the third connecting rod part, the motor is connected with the input of speed reducer or both pass through the hold-in range transmission and are connected, the speed reducer output is connected with corresponding potentiometer or encoder. The operation master hand can be used fixedly, can be carried by an operator to carry about for mobile operation, can fully utilize the flexibility of the hand to control the movement of each joint, and is accurate in operation; the three joints at the tail end are compactly distributed together, the structure is small, and the operation space and the flexibility of fingers can be fully utilized.
Description
Technical Field
The invention relates to a master-slave teleoperation master hand for a mechanical arm, and belongs to the technical field of teleoperation of industrial robots.
Background
Master-slave teleoperation is the most common method of manipulation for personnel to participate in controlling an industrial robot. The master-slave robot teleoperation system can perform complex manipulation operations in an uncertain environment. The presence technology creates a harmonious multidimensional information interaction environment for the man-robot-environment, and the force feedback teleoperation master hand enables an operator to have real force feeling on the process of the operated operation.
The existing teleoperation master with force sense feedback has the problems that the structural size and the quality are large and the teleoperation master can only be used fixedly, the visual angle of an operator is fixed during operation, even blind spots exist, and the teleoperation master is required to operate by means of a multi-visual-angle image display system.
Chinese patent document 103817682a discloses "a joint type force feedback teleoperation master hand", which holds joints at the extreme ends, and the axes of the previous three joints are parallel to each other, if one joint is to be controlled, the other joints are easily driven to be linked together, and in addition, the flexible fingers of the operator are only used for operating buttons and switches, but not for controlling the rotation of the joints.
Disclosure of Invention
Aiming at the defects of the existing teleoperation technology and the multi-joint serial mechanical arm with force feedback, the invention provides a force feedback teleoperation master hand with a position servo function and a force sense on-site sense.
The force feedback teleoperation master hand adopts the following technical scheme:
the teleoperation master hand comprises a first connecting rod part, a second connecting rod part, a third connecting rod part, a fourth connecting rod part, a fifth connecting rod part and a knob part which are sequentially connected, wherein each connecting rod part is connected through a rotary joint, a potentiometer or an encoder is arranged on each rotary joint, a motor and a speed reducer are arranged on the rotary joint at the joint between the first connecting rod part, the second connecting rod part and the third connecting rod part, the motor in the first connecting rod part is connected with the input end of the speed reducer, the motor in the second connecting rod part and the motor in the third connecting rod part are connected with the speed reducer through a synchronous belt, and the output end of the speed reducer is connected with the corresponding potentiometer or encoder (used for measuring the angular displacement of the output end).
The first connecting rod part comprises a base and a first shell, wherein the first shell is connected to the base, a first motor, a first speed reducer, a first potentiometer and a first support are arranged in the first shell, the first motor is connected with the first speed reducer, the first support is fixed in the first shell, the first speed reducer is fixed on the first support, and the first potentiometer is installed on the first support and connected with the first speed reducer through a transmission mechanism.
The second connecting rod part comprises a second shell, and a second motor, a second speed reducer and a second potentiometer are arranged in the second shell; the second shell is connected to the output end of the first speed reducer, the second motor is in transmission connection with the second speed reducer through a synchronous belt, the second speed reducer and the second potentiometer are both installed in the second shell, and the second potentiometer is connected with the second speed reducer through a transmission mechanism. The output axis of the second speed reducer is perpendicular to the output axis of the first speed reducer.
The third connecting rod part comprises a first connecting plate and a third shell, a third motor, a third speed reducer and a third potentiometer are arranged in the third shell, the first connecting plate is connected with the output end of the second speed reducer in the second connecting rod part, the third shell is connected to the first connecting plate, the third motor is connected with the third speed reducer through synchronous belt transmission, the third speed reducer and the third potentiometer are all installed in the shell, and the third potentiometer is connected with the third speed reducer through a transmission mechanism.
The transmission mechanism is a gear transmission mechanism, a driving gear is arranged at the output end of the speed reducer, and a driven gear is arranged on the potentiometer or the encoder and meshed with the driving gear.
The fourth connecting rod part comprises a second connecting plate, a fourth potentiometer and a fourth shell, wherein the second connecting plate is connected with the output end of the third speed reducer in the third connecting rod part, the second connecting plate is connected with a bearing seat, the shell is arranged on the bearing seat through a bearing, and the output shaft of the fourth potentiometer is connected with the shell. And the bearing seat is provided with a limit screw used for limiting the rotation angle of the shell. The rotation axis of the fourth shell is perpendicular to the rotation axis of the output end of the third speed reducer, so that linkage can be well avoided.
The fifth connecting rod part comprises a second bracket and a fifth potentiometer, the second bracket is connected to the shell in the fourth connecting rod part, the second bracket is provided with a rotating shaft, and an output shaft of the fifth potentiometer is connected with the rotating shaft.
The knob component comprises a fifth shell and a sixth potentiometer, the fifth shell is arranged on a rotating shaft in the fifth connecting rod component through a bearing, the sixth potentiometer is connected on the rotating shaft in the fifth connecting rod component, a knob is arranged on an output shaft of the sixth potentiometer, a sliding bearing and a damping ring are arranged between the knob and the fifth shell, and a button switch is arranged at the upper end of the knob. The button switch is used for controlling the auxiliary end mechanical arm to attach a working tool.
The working principle of the invention is as follows:
if the slave mechanical arm is isomorphic with the master hand of the invention, the potentiometer or the encoder at each joint of the slave mechanical arm and the potentiometer arranged at each joint of the master hand of the invention can form a control closed loop, and when an operator operates the master hand, the movement of each joint of the slave arm completely follows the movement of each joint of the master hand.
If the slave manipulator is heterogeneous with the master manipulator, firstly, establishing a mapping relation between a master working space and a slave manipulator working space, mapping the position and the gesture of a master manipulator handle to a slave manipulator end effector when an operator operates the master manipulator, and determining the motion of each joint of the slave manipulator through inverse solution of the kinematics of the slave manipulator.
The working load of the tail end of the slave end mechanical arm is measured through a force sensor arranged on the slave end mechanical arm, the working load is properly reduced and is used as the force fed back to an operator by the tail end of the master hand, the feedback force is generated by a motor arranged on a joint of the master hand and is obtained after the feedback force is amplified by a speed reducer, and the output force of each joint motor is determined by the feedback force, the gravity of each connecting rod part of the master hand, the joint friction force and the posture of the master hand.
The invention can be used fixedly, can be carried by an operator to carry about mobile operation, and has the following characteristics:
1. the joint to be held is a fourth joint which is positioned at the middle part but not at the extreme end, and the axis is vertical to the previous joint, so that the motion of each joint can be accurately controlled, and the linkage among multiple joints is avoided;
2. the three joints at the tail end are compactly distributed together, so that the structure is compact, and the flexibility of the fingers of a person can be fully utilized to control the three joints;
3. corresponding force sense information can be provided for an operator according to the magnitude of the working load from the arm end so as to improve the comfort of operation and reduce the fatigue of the operator during long-time operation.
Drawings
FIG. 1 is a schematic diagram of the force feedback teleoperation master of the present invention.
Fig. 2 is a schematic structural view of a first link member in the present invention.
Fig. 3 is a schematic structural view of a second link member in the present invention.
Fig. 4 is a cross-sectional view A-A of fig. 3.
Fig. 5 is a schematic structural view of a third link member in the present invention.
Fig. 6 is a sectional view of B-B in fig. 7.
Fig. 7 is a structural view of the fourth link member, the fifth link member and the handle A6 in the present invention.
In the figure: 1. a first link member, a second link member, a third link member, a fourth link member, a fifth link member, and a handle, respectively, 2, 3;
101. the motor comprises a base, 102, a first shell, 103, a first motor, 104, a first motor flange, 105, a first potentiometer, 106, a first speed reducer, 107, a first driven gear, 108, a first driving gear, 109, a first bracket and 110, an output flange;
201. the second housing, 202, the second motor, 203, the driving pulley, 204, the second driven gear, 205, the second potentiometer, 206, the second output flange, 207, the second speed reducer, 208, the driven pulley, 209, the second front cover, 210, the second rear cover;
301. the first connection plate, 302, the third housing, 303, the third motor, 304, the driving pulley, 305, the third driven gear, 306, the third potentiometer, 307, the third output flange, 308, the third speed reducer, 309, the driven pulley, 310, the third rear cover;
401. the second connecting plate, 402, the bearing seat, 403, the fourth potentiometer, 404, the left shell, 405, the limit screw, 406, the retainer ring, 407, the right shell, 408, the damping ring, 409, the bearing, 410, the set screw, 411, the upper cover;
501. the second bracket, 502, the rotating shaft, 503, the bearing, 504, the bearing, 505, the set screw, 506, the potentiometer shell, 507, the fifth potentiometer, 508, the rear cover, 509, the bracket cover plate;
601. rear cover 602 sixth potentiometer 603 bearing 604 damping ring 605 fifth housing 606 upper cover 607 push button switch.
Detailed Description
The force feedback teleoperation master hand of the present invention, as shown in fig. 1, comprises a first link member 1, a second link member 2, a third link member 3, a fourth link member 4, a fifth link member 5, and a knob member 6, which are sequentially connected. Each connecting rod part is connected through a rotary joint, a potentiometer or an encoder is arranged on each rotary joint, a motor and a speed reducer are arranged on the rotary joint at the joint between the first connecting rod part 1, the second connecting rod part 2 and the third connecting rod part 3, the motor in the first connecting rod part is connected with the input end of the speed reducer, the motors in the second connecting rod part and the third connecting rod part are connected with the speed reducer through synchronous belt transmission, the speed reduction transmission is carried out, and the angular displacement of the output end is measured by the potentiometer corresponding to the angular displacement through a pair of gear transmissions.
The first link member 1 has a structure shown in fig. 2, and includes a base 101, a first housing 102, and a first motor 103, a first speed reducer 106, a first potentiometer 105, a first driven gear 107, and a first driving gear 108 provided in the first housing 102. The first housing 102 is connected to the base 101. The first motor 103 is connected to a first speed reducer 106 via a first motor flange 104. The first speed reducer 106 is mounted on a first bracket 109, and the first bracket 109 is fixed in the first housing 102 by screws. The first drive gear 108 is mounted to an output flange of the first reduction gear 106. The first driven gear 107 is mounted on the first bracket 109 and meshes with the first driving gear 108, and the first potentiometer 105 is connected to the first driven gear 107. The outer end surface of the first output flange 110 is formed with a screw hole for connection with the second link member.
As shown in fig. 3 and 4, the second link member 2 includes a second housing 201, and a second motor 202, a second speed reducer 207, a second potentiometer 205, a second driving gear 206, a second driven gear 204, a driving pulley 203, a driven pulley 208, a second front cover 209, and a second rear cover 210 are disposed in the second housing 201. The second housing 201 is connected to the first output flange 110 by a screw, the second motor 202 is mounted on the second housing 201, a driving pulley 203 is fixed to an output shaft thereof by a set screw, and a driven pulley 208 fixed to an input shaft of the second speed reducer 207 is driven to rotate by a timing belt. The output axis of the second speed reducer 207 is perpendicular to the output axis of the first speed reducer 106. A second driving gear 206 is mounted on the output end of the second speed reducer 207, and a second driven gear 204 is mounted on the shaft of the second potentiometer 205 and meshes with the first driving gear 108. The housing 201 is provided at both ends thereof with a second front cover 209 and a second rear cover 210, respectively. A threaded hole for connecting the third link member 3 is formed in an end surface of the second drive gear 206.
The third link member 3 has a structure including a first link plate 301 and a third housing 302, as shown in fig. 5 and 6, and a third motor 303, a third speed reducer 308, and a third potentiometer 306 are provided in the third housing 302. The first link plate 301 is connected to the second driving gear 206 (i.e., the output end of the second reduction gear 207) in the second link member 2 by a screw, and the third housing 302 is connected to the first link plate 301 by a screw. The third motor 303 is mounted on the third housing 302, and a driving pulley 304 is fixed to an output shaft by a set screw, and a driven pulley 309 fixed to an input shaft of the third speed reducer 308 is driven to rotate by a timing belt. A third speed reducer 308 and a third potentiometer 306 are mounted within the housing 302. The third driving gear 307 is mounted on the output end of the third speed reducer 308, and the third driven gear 305 is mounted on the shaft of the third potentiometer 306 and meshes with the third driving gear 307. A front cover 301 and a rear cover 310 are respectively mounted at both ends of the housing 302. A threaded hole for connecting the fourth link member 4 is formed in an end surface of the third drive gear 307.
The fourth link member 4 has a structure including a second connection plate 401, a fourth potentiometer 403, and a fourth housing, as shown in fig. 7. The second connection plate 401 is connected to the third driving gear 307 (i.e., the output end of the third speed reducer 308) in the third link member 3 by a screw, and a bearing housing 402 is connected to the second connection plate 401. The fourth housing is composed of a left housing 404 and a right housing 407, and the left housing 404 and the right housing 407 are mounted on the bearing housing 402 through bearings 409 and locked by screws. The bearing 409 is positioned by the retainer 406. The upper ends of the left and right housings 404 and 407 are provided with an upper cover 411. The fourth potentiometer 403 is mounted on the bearing housing 402, and the output shaft of the fourth potentiometer 403 is locked and rotated together with the right housing 407 by a set screw 410. The bearing seat 402 is provided with a limit screw 405 for limiting the rotation angle of the housing. An O-ring 408 is provided between the housing and the bearing housing 402 to provide damping by friction for comfort of operation. The rotation axis of the fourth shell is perpendicular to the rotation axis of the output end of the third speed reducer 308, so that linkage can be well avoided, the flexibility of fingers of a person is fully utilized to control the movement of each joint, and the operation is accurate.
The fifth link member 5 has a structure including a second bracket 501 and a fifth potentiometer 507 as shown in fig. 7. The second bracket 501 is connected to the left housing 404 in the fourth link member 4 by a screw, a rotation shaft 502 is mounted on the second bracket 501 by a bearing 503 and a bearing 504, one end (left end in fig. 4) of the rotation shaft 502 is locked with an output shaft of the fifth potentiometer 507 by a set screw 505 and rotated together, and the potentiometer housing 506 is fixed to the second bracket 501 by a screw. The second bracket 501 is provided with a bracket cover 509. The rear of the potentiometer housing 506 is provided with a rear cover 508. An O-ring is also mounted between the shaft 502 and the second bracket 501, and damping is generated by friction, so that the operation is more comfortable.
The knob member 6 is structured as shown in fig. 7, and includes a fifth housing 605 and a sixth potentiometer 602. The fifth housing 605 is mounted on the rotary shaft 502 in the fifth link member 5 via a slide bearing 603, and the fifth housing 605 is freely rotatable with respect to the rotary shaft 502. The sixth potentiometer 602 is connected to the shaft 502, and an output shaft of the sixth potentiometer 602 is locked to the fifth housing 605 by a set screw and rotates together. The upper end of the fifth housing 605 is mounted with a push button switch 607 through a cover 606. A rear cover 601 is provided at the rear of the sixth potentiometer 602. An O-shaped damping ring 604 is arranged between the fifth shell 605 and the bearing 603, and friction with the sliding bearing 603 generates damping, so that the operation is more comfortable.
Each potentiometer may be replaced with an encoder.
When the manipulator is operated, the palm holds the fourth connecting rod component, the first, second, third and fourth connecting rod components can be driven to rotate, meanwhile, the finger can rotate the fifth connecting rod component and the knob component, and a button switch on the knob component is controlled, so that the manipulator can operate corresponding joints of the manipulator through the master hand.
Claims (4)
1. A force feedback teleoperation master hand is characterized in that: the device comprises a first connecting rod component, a second connecting rod component, a third connecting rod component, a fourth connecting rod component, a fifth connecting rod component and a knob component which are sequentially connected, wherein all the connecting rod components are connected through rotary joints, a potentiometer or an encoder is arranged on each rotary joint, a motor and a speed reducer are arranged on the rotary joint at the joint of the first connecting rod component, the second connecting rod component and the third connecting rod component, the motor in the first connecting rod component is connected with the input end of the speed reducer, the motor in the second connecting rod component and the motor in the third connecting rod component are connected with the speed reducer through a synchronous belt in a transmission manner, and the output end of the speed reducer is connected with the corresponding potentiometer or encoder;
the first connecting rod component comprises a base and a first shell, wherein the first shell is connected to the base, a first motor, a first speed reducer, a first potentiometer and a first support are arranged in the first shell, the first motor is connected with the first speed reducer, the first support is fixed in the first shell, the first speed reducer is fixed on the first support, and the first potentiometer is arranged on the first support and connected with the first speed reducer through a transmission mechanism;
the second connecting rod part comprises a second shell, and a second motor, a second speed reducer and a second potentiometer are arranged in the second shell; the second shell is connected to the output end of the first speed reducer, the second motor is in transmission connection with the second speed reducer through a synchronous belt, the second speed reducer and the second potentiometer are both installed in the second shell, and the second potentiometer is connected with the second speed reducer through a transmission mechanism;
the output axis of the second speed reducer is vertical to the output axis of the first speed reducer;
the third connecting rod part comprises a first connecting plate and a third shell, a third motor, a third speed reducer and a third potentiometer are arranged in the third shell, the first connecting plate is connected to the output end of the second speed reducer in the second connecting rod part, the third shell is connected to the first connecting plate, the third motor is connected with the third speed reducer through synchronous belt transmission, the third speed reducer and the third potentiometer are both arranged in the shell, and the third potentiometer is connected with the third speed reducer through a transmission mechanism;
the fourth connecting rod part comprises a second connecting plate, a fourth potentiometer and a fourth shell, the second connecting plate is connected to the output end of the third speed reducer in the third connecting rod part, the second connecting plate is connected with a bearing seat, the shell is arranged on the bearing seat through a bearing, and the output shaft of the fourth potentiometer is connected with the shell;
the rotation axis of the fourth shell is perpendicular to the rotation axis of the output end of the third speed reducer;
when the manipulator is operated, the palm holds the fourth connecting rod component to drive the first, second, third and fourth connecting rod components to rotate, and simultaneously the finger rotates the fifth connecting rod component and the knob component, and controls the button switch on the knob component, so that the manipulator can operate the corresponding joint movement of the manipulator through the master hand.
2. A force feedback teleoperational master hand according to claim 1, characterized in that: the transmission mechanism is a gear transmission mechanism, the driving gear is arranged at the output end of the speed reducer, and the driven gear is arranged on the potentiometer or the encoder and meshed with the driving gear.
3. A force feedback teleoperational master hand according to claim 1, characterized in that: the fifth connecting rod part comprises a second bracket and a fifth potentiometer, the second bracket is connected to the shell in the fourth connecting rod part, the second bracket is provided with a rotating shaft, and an output shaft of the fifth potentiometer is connected with the rotating shaft.
4. A force feedback teleoperational master hand according to claim 1, characterized in that: the knob component comprises a fifth shell and a sixth potentiometer, the fifth shell is arranged on a rotating shaft in the fifth connecting rod component through a bearing, the sixth potentiometer is connected on the rotating shaft in the fifth connecting rod component, an output shaft of the sixth potentiometer is connected with the fifth shell, and a button switch is arranged on the fifth shell and used for controlling an additional working tool at the tail end of the slave end mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810017875.0A CN108161883B (en) | 2018-01-08 | 2018-01-08 | Force feedback teleoperation master hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810017875.0A CN108161883B (en) | 2018-01-08 | 2018-01-08 | Force feedback teleoperation master hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108161883A CN108161883A (en) | 2018-06-15 |
| CN108161883B true CN108161883B (en) | 2024-01-26 |
Family
ID=62517596
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810017875.0A Active CN108161883B (en) | 2018-01-08 | 2018-01-08 | Force feedback teleoperation master hand |
Country Status (1)
| Country | Link |
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| CN (1) | CN108161883B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111185893A (en) * | 2020-03-09 | 2020-05-22 | 辽宁科技大学 | Master-slave mechanical arm capable of synchronously acting |
| CN111618886A (en) * | 2020-06-08 | 2020-09-04 | 山东大学 | Force feedback teleoperation master hand of mechanical arm with six degrees of freedom |
| CN113618703B (en) * | 2021-10-12 | 2022-08-30 | 深圳市越疆科技有限公司 | Teleoperation manipulator and teleoperation equipment |
| CN114469356B (en) * | 2022-01-24 | 2023-09-15 | 重庆金山医疗机器人有限公司 | Driving method of master hand and surgical robot doctor control console |
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| JPH03264277A (en) * | 1990-03-09 | 1991-11-25 | Toshiba Corp | Master hand |
| JPH07148684A (en) * | 1993-11-25 | 1995-06-13 | Toshiba Corp | Master arm device of master-slave system |
| JPH07246578A (en) * | 1994-03-11 | 1995-09-26 | Yaskawa Electric Corp | Master hand device |
| JP2003300188A (en) * | 2002-02-07 | 2003-10-21 | Gifu Univ | Tactile interface and its control method |
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| CN103170961A (en) * | 2013-04-19 | 2013-06-26 | 国家电网公司 | Master control arm of modular master-slave mechanical arm |
| CN203712687U (en) * | 2014-03-12 | 2014-07-16 | 山东大学 | Joint type force feedback tele-operation master manipulator |
| JP2015085484A (en) * | 2013-11-01 | 2015-05-07 | 国立大学法人東京工業大学 | Fingertip stimulation system |
| CN106667583A (en) * | 2017-02-17 | 2017-05-17 | 吉林大学 | Minimally invasive surgery robot 7-degree freedom operation master manipulator |
| CN207682374U (en) * | 2018-01-08 | 2018-08-03 | 山东优宝特智能机器人有限公司 | A kind of main hand of multi-joint force feedback |
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2018
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Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03264277A (en) * | 1990-03-09 | 1991-11-25 | Toshiba Corp | Master hand |
| JPH07148684A (en) * | 1993-11-25 | 1995-06-13 | Toshiba Corp | Master arm device of master-slave system |
| JPH07246578A (en) * | 1994-03-11 | 1995-09-26 | Yaskawa Electric Corp | Master hand device |
| JP2003300188A (en) * | 2002-02-07 | 2003-10-21 | Gifu Univ | Tactile interface and its control method |
| CN101623864A (en) * | 2009-08-13 | 2010-01-13 | 天津大学 | Force feedback type master manipulator with deadweight balance property |
| CN103170961A (en) * | 2013-04-19 | 2013-06-26 | 国家电网公司 | Master control arm of modular master-slave mechanical arm |
| JP2015085484A (en) * | 2013-11-01 | 2015-05-07 | 国立大学法人東京工業大学 | Fingertip stimulation system |
| CN203712687U (en) * | 2014-03-12 | 2014-07-16 | 山东大学 | Joint type force feedback tele-operation master manipulator |
| CN106667583A (en) * | 2017-02-17 | 2017-05-17 | 吉林大学 | Minimally invasive surgery robot 7-degree freedom operation master manipulator |
| CN207682374U (en) * | 2018-01-08 | 2018-08-03 | 山东优宝特智能机器人有限公司 | A kind of main hand of multi-joint force feedback |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108161883A (en) | 2018-06-15 |
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