CN109955225A - A kind of force feedback hand controlled device of parallel Three Degree Of Freedom and its control method - Google Patents
A kind of force feedback hand controlled device of parallel Three Degree Of Freedom and its control method Download PDFInfo
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- CN109955225A CN109955225A CN201910242994.0A CN201910242994A CN109955225A CN 109955225 A CN109955225 A CN 109955225A CN 201910242994 A CN201910242994 A CN 201910242994A CN 109955225 A CN109955225 A CN 109955225A
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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
- B25J13/085—Force or torque sensors
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a kind of force feedback hand controlled device of parallel Three Degree Of Freedom and its control methods, are made of pedestal, moving component, tension sensor, MR damper, direct current generator, photoelectric encoder, operation handle, control circuit etc..The cage structure that pedestal is made of two hexagonal-shaped frames.Moving component includes pulley, linear guide mould group and parallel linkage.Pulley, MR damper, direct current generator are fixedly connected with the output shaft of photoelectric encoder by shaft coupling.Wire rope gearing is used between sliding block on pulley and linear guide.Respectively place a tension sensor in sliding block two sides.Parallel linkage both ends pass through Hooks coupling universal coupling respectively and connect with sliding block and operation handle.By combination, actively and passively actuator reduces the volume and power consumption of device to the present invention, and provides extensive and high-precision feedback force under the management of force control method for interaction.Device also has the characteristics that structure is simple, stroke is big, rigidity is high, inertia is small and positioning accuracy is high simultaneously.
Description
Technical field
The present invention relates to a kind of force feedback hand controlled device, end-of-pipe control handle displacement can be measured and be people and virtual environment
Interaction provides extensive and high-precision feedback force, and it is man-machine to can be widely applied to space exploration, deep-sea exploration and virtual reality etc.
Interaction field.
Background technique
Human-computer interaction technology refers to that people realizes a kind of skill of interaction between operator and machine by certain interactive mode
Art is widely used in fields such as virtual reality, deep-sea detecting and remote operations.Force feedback hand controlled device is Teleoperation Systems
In a kind of human-computer interaction device for being widely used.As the medium among operator and virtual robot or real machine people, hand
Control device not only has a function that operator's hand posture information is sent to local control system, and can will be in virtual system
The reciprocal force of texture information or REMOTE MACHINE human and environment that virtual robot touches shows operator.
With the continuous development of human-computer interaction technology, there are many force feedback robots, such as Leonardo da Vinci's operating robot
Deng, but these robots often do not have versatility, can be only applied in special scenes.In addition, existing force feedback hand controlled
Device end movement range is often smaller, and the range for the feedback force that can be provided and precision are all relatively low, it is difficult to be suitable for big
Stroke requires force feedback precision and response speed relatively high scene.Existing force feedback hand controlled body product is also more huge
Greatly, the problem for often bringing inertia larger.Motor is used to also bring along the larger problem of power consumption as the main devices of force feedback.
These factors also limit the development of human-computer interaction technology to a certain extent.
Summary of the invention
To solve the above problems, the present invention is intended to provide a kind of parallel connection of structure simple, big stroke, high-precision and low inertia
Formula Three Degree Of Freedom force feedback hand controlled device, and reduce force feedback actuator volume and function by combining actively and passively actuator
Consumption, it can be achieved that high-precision position tracking, and for people and virtual or remote ground object interaction provide it is extensive and high-precision instead
Present power.
Technical solution: the present invention proposes a kind of force feedback hand controlled device of parallel Three Degree Of Freedom, including several groups central symmetry
The moving component of arrangement；Moving component described in every group includes a linear guide mould group and parallel linkage, further includes setting respectively
Set the front side transmission mechanism and rear side transmission mechanism in linear guide mould group front and rear sides；
The linear guide mould group includes a linear guide and the sliding block that is slidably mounted in linear guide；It is described several
The linear guide parallel arrangement of group moving component；
The front side transmission mechanism includes a follow-up pulley；Rear side transmission mechanism includes a driving pulley and driving master
The driving device of movable pulley rotation；Transmission belt is set on the follow-up pulley and driving pulley, transmission belt follows follow-up pulley
It is moved synchronously with driving pulley；The linear guide is generally aligned in the same plane with transmission belt, and the sliding block is fixed on the biography
It is dynamic to take；
The parallel linkage includes a parallel rod；One end of the parallel rod by the first Hooks coupling universal coupling with
Sliding block connection；The other end of the parallel rod of the several groups moving component is commonly connected to one by the second Hooks coupling universal coupling
In operation handle.
Further, the driving device includes the MR damper and direct current being connected in the shaft of driving pulley
Machine.
Further, photoelectric encoder is also equipped in the shaft of the driving pulley.
Further, the transmission belt is provided with a section, and two ends of the section are separately fixed at the sliding block
Front/rear end；And the end and the junction of sliding block are provided with tension sensor.
Further, the quantity of the moving component is three groups.
It further, further include control circuit；The control circuit includes power circuit, photoelectric encoder signal acquisition electricity
Road, MR damper driving circuit, direct current motor drive circuit, tension sensor signal acquisition circuit and telecommunication circuit.
Further, each transmission belt includes two wirerope being arranged in juxtaposition.
Further, the parallel rod is hollow aluminum pipe.
The control method of the force feedback hand controlled device of parallel Three Degree Of Freedom of the invention, comprising the following steps:
Step 1: establishing the calibrating platform of MR damper and direct current generator, obtain the power-of MR damper respectively
The power of current relationship curve and direct current generator-current relationship curve；
Step 2: when operator controls operation handle movement, moving sliding block；Photoelectric encoder can respectively obtain
The displacement of corresponding sliding block, the displacement Pmea of operation handle is calculated according to position calculation method；
Step 3: the displacement Pmea of operation handle is mapped to the virtual protocol point of virtual environment in real time；Operator's control
During operation handle moves, when the object in virtual protocol point and virtual environment collides, one will be generated virtually
Reciprocal force Fobj, it is as follows that this reciprocal force is reproduced in the process in operation handle:
Virtual interacting power Fobj is obtained into the power that each MR damper needs to export by the inverse solution of filtering first；Root
The input current Id that MR damper needs is obtained according to power-current relationship curve of MR damper；MR damper
Driving controls the power output of MR damper；If the resultant force of multiple MR damper outputs is Fd；
Then, according to the real-time measurements of tension sensor, calculate practical function in the power of operation handle be Fmea；
Fmea is compared with Fobj, obtains differential force Fdev；
The inverse solution that power is carried out to Fdev obtains the power that each direct current generator needs to export；According to power-electric current of direct current generator
Relation curve obtains the input current Iv of direct current generator needs；Direct current generator driving controls the power output of direct current generator；
If the resultant force of multiple direct current generator outputs is Fv；
Finally, Fd and Fv superposition is obtained actual reproduction to the reciprocal force Fa of user in operation handle.
The utility model has the advantages that the 1, present invention has the advantages that stroke is big.
2, the rocker arm that the present invention replaces tradition Delta hand controller to use using linear guide, to alleviate movement mechanism
Inertia；Wire rope gearing is used between pulley, so that the damping interference of hand controller is small；In addition, parallel linkage is using empty
The materials such as heart aluminum pipe further reduce the inertia of movement mechanism, and the force feedback precision and response frequency of system can be improved.
3, the present invention is using the main mixing force feedback performer passively combined；MR damper is used as anti-by power
Presenting device has the advantage that power output range is big, torque-volume ratio is big, low in energy consumption；Direct current generator is as active force feedback device
High frequency force signal can be exported, may be implemented within the scope of big power output in conjunction with force-feedback control method of the invention to user
High-precision reciprocal force is provided.
4, the present invention has sealed in tension sensor on a steel cord；Tension sensor can be with the big of real-time measurement feedback force
It is small, and using the power output of the real-time correcting force feedback device of force-feedback control algorithm, to improve the precision of system feedback power.
5, the configuration of the present invention is simple, it is easy to maintain；This equipment simplifies the relative complex position of Traditional parallel hand controller equipment
Set derivation algorithm and power decomposition algorithm, it is possible to reduce the calculation amount of kinematics and mechanics facilitates the sampling of Lifting Control System
Rate and bandwidth, while the calculation accuracy of position can be improved.
Detailed description of the invention
Fig. 1 is general structure schematic diagram of the invention；
Fig. 2 is linear guide modular structure schematic diagram of the invention；
Fig. 3 is the structural schematic diagram of parallel linkage of the invention；
Fig. 4 is the structural schematic diagram of present invention rear side transmission mechanism；
Fig. 5 is geometry schematic diagram of the invention；
Fig. 6 is force-feedback control method logical schematic of the invention.
Specific embodiment
Such as Fig. 1, one embodiment of the present of invention, including pedestal 1.The pedestal 1 be by front side hexagonal-shaped frame 101, after
The cage structure that 102, three guide rail bottom plates 103 of side hexagonal-shaped frame and several connecting rods 104 form.Guide rail bottom plate 103
Parallel front side hexagonal-shaped frame 101 is fixedly connected with rear side hexagonal-shaped frame 102 jointly with connecting rod 104, guide rail bottom plate
103 and connecting rod 104 perpendicular to 101 place plane of front side hexagonal-shaped frame.
The present embodiment further includes three groups of moving components being centrosymmetrically arranged；Moving component described in every group includes that a straight line is led
Rail mould group 2 and parallel linkage 9 further include 3 He of front side transmission mechanism for being separately positioned on 2 front and rear sides of linear guide mould group
Rear side transmission mechanism 4.
Such as Fig. 2, the linear guide mould group 2 includes a linear guide 201 and is slidably mounted in linear guide 201
Sliding block 202；Each linear guide 201 is mounted on a guide rail bottom plate 103；The linear guide 201 of three groups of moving components
Parallel arrangement.
The front side transmission mechanism 3 includes a front side frame 301, the front side bearing 302 being sleeved on front side frame 301
With the follow-up pulley 303 being sleeved on the bearing 302 of front side.Such as Fig. 4, rear side transmission mechanism 4 includes rear side bracket 401, is sleeved on
Rear side bearing 402 on rear side bracket 401, the driving pulley 403 being sleeved on rear side bearing 402 and driving driving pulley 403
The driving device of rotation.The driving device includes MR damper 6, the direct current being connected in the shaft of driving pulley 403
Motor 7 and photoelectric encoder 8.MR damper 6, bearing 402 and MR damper are fixed on the bracket of 402 side of bearing
It is connected between 6 by first shaft coupling 601；Direct current generator 7, bearing 402 and direct current are installed on the bracket of 402 other side of bearing
It is connected between machine 7 by second shaft coupling 701；Photoelectric encoder 8 is installed on rear side of direct current generator 7.
Transmission belt 502 is set on the follow-up pulley 303 and driving pulley 403, transmission belt 502 follows follow-up pulley
303 and driving pulley 403 move synchronously.The linear guide 201 is generally aligned in the same plane with transmission belt 502, and the sliding block
202 are fixed on the transmission belt 502.
Such as Fig. 3, the parallel linkage 9 includes a parallel rod 901；One end of the parallel rod 901 passes through the
One Hooks coupling universal coupling 902 is connect with sliding block 202；The other end of the parallel rod 901 of the several groups moving component passes through second
Hooks coupling universal coupling 903 is commonly connected in an operation handle 10.Spacer pin is installed on first Hooks coupling universal coupling 902, it can be with
Prevent parallel rod 901 from reaching the state perpendicular with linear guide 201, so that parallel linkage 9 be avoided to enter singular point
Position.
The transmission belt 502 is provided with a section, and two ends of the section are separately fixed at the sliding block 202
On the pinboard 501 of front/rear end；And the end and the junction of sliding block 202 are provided with tension sensor 5.Pulling force passes
Pulling force when sensor 5 is moved for measuring sliding block 202 to side, between the transmission belt 502 of sliding block 202 and the other side.
The present embodiment further includes control circuit 11；The control circuit 11 includes power circuit, photoelectric encoder signal
Acquisition Circuit, MR damper driving circuit, direct current motor drive circuit, tension sensor signal acquisition circuit and communication electricity
Road.
In the present invention, when operator, which controls operation handle 10, to be moved, the sliding block in linear guide 201 can be driven
202 movements.Sliding block 202 drives to follow-up pulley 303 and driving pulley 403 by transmission belt 502.Follow-up pulley 303 and active
When pulley 403 rotates, according to displacement of the available sliding block 202 of 8 output signal of photoelectric encoder in linear guide 201, most
Displacement according to the available operation handle 10 of the position calculation method of this hand controller afterwards.Through emulation and actual measurement, operation
The space of handle 10 is the relatively large prism class of a range, and the lower back clearance introduced can be controlled to avoid increment type and is missed
Difference, will more accurately and conveniently when controlling the biggish remote ground object of stroke.
It, can be real by the displacement for the operation handle 10 measured during operator controls operation handle 10 and moves
When be mapped on the virtual protocol point of virtual environment.When other objects in virtual protocol point and virtual environment collide,
A virtual interacting power will be generated.This virtual interacting power can be reproduced in operation handle 10, i.e. realization force feedback function.This
The method that the force feedback performer of invention is combined using main passive actuator, that is, use MR damper 6 and direct current
The combination of machine 7.MR damper 6 be used to reproduce reciprocal force, and direct current generator 7 only serve it is anti-to actual feedback power and target
The effect that deviation between feedback power compensates.MR damper 6 as by power feedback device have power output range it is big,
Big, the low in energy consumption advantage of torque-volume ratio, direct current generator 7 can export high frequency force signal as active force feedback device.Power is anti-
Sliding block 202 can be acted on after feedback actuator power output, after transmitting by parallel rod 901, feedback force can be acted on
Operation handle 10.
The MR damper 6 used in the present invention is capable of providing the torque of maximum 300mNm, can make to act on sliding block 202
Pulling force be up to 20N, this feature ensures hand controllers to the reproduction of high rigidity dummy object.Meanwhile magnetorheological damping
The maximum drive current of device 6 is 1A, and the maximum locked rotor current of direct current generator 7 is only 0.44A.Compared to using only direct current generator 7
As the hand controller (driving current is often as high as several amperes of even tens of amperes) of force feedback actuator, by MR damper 6
The hand controller for being integrated as interaction offer force feedback with direct current generator 7 does not need complicated current driver, and has low in energy consumption
The characteristics of.
The rocker arm that the present invention replaces tradition Delta hand controller to use using linear guide, to alleviate movement mechanism
Inertia.Wire rope gearing is used between pulley, so that the damping interference of hand controller is small.In addition, parallel linkage 9 is using hollow
The materials such as aluminum pipe further reduce the inertia of movement mechanism, and the force feedback precision and response frequency of system can be improved.
Under the management of closed loop force-feedback control algorithm, this hand controller can be people and virtual within the scope of big feedback force
Or the interaction of remote ground object provides extensive and high-precision feedback force.As shown in fig. 6, accurate force-feedback control method can be by
It is operated according to following steps:
Step 1: establishing the calibrating platform of MR damper 6 and direct current generator 7, obtain MR damper 6 respectively
The power of power-current relationship curve and direct current generator 7-current relationship curve.The platform includes D.C. regulated power supply, dynamometer, shows
Wave device, DC servo motor and fixed device.
For the calibration experiment of MR damper 6, DC servo motor, MR damper 6 and dynamometer are solid respectively
It is scheduled on platform.Wherein DC servo motor is fixedly connected with the axis of MR damper 6 by shaft coupling；MR damper
6 shell is fixed on testboard.It is powered on by D.C. regulated power supply to MR damper 6, electric current is first from 0 with 0.2A's
Step-length increases to 1A, then is reduced to 0A from 1A with identical step-length.Record output of the MR damper 6 under each current value
Power, and it is multiplied with torque arm length, to obtain output torque.It is hereby achieved that 6 output torque of MR damper and
The relationship of electric current.
For the calibration experiment of direct current generator 7, the axis of direct current generator 7 is connect with fixed structure, what fixed structure stretched out
The probe contacts of part and dynamometer.Then D.C. regulated power supply is powered on to direct current generator 7, and electric current is first from 0A with the step of 0.05A
Length increases to 0.5A, then is reduced to 0A from 0.5A with identical step-length.Record output of the direct current generator 7 under each current value
It is multiplied with torque arm length, obtains output torque by power.It is hereby achieved that the relationship of direct current generator 7 output torque and electric current.
Step 2: when operator controls the movement of operation handle 10, it will the sliding block 202 in linear guide 201 is caused to move
It is dynamic.Three photoelectric encoders 8 can respectively obtain the displacement of corresponding sliding block 202, can be counted according to following position calculation method
Calculate the displacement P of operation handlemea, position calculation method is as follows:
As shown in figure 5, geometry schematic diagram of the invention include three linear guide mould groups 2, two of linear guide 201
Endpoint is respectively on the midpoint on 102 side of front side hexagonal-shaped frame 101 and rear side hexagonal-shaped frame.Linear guide 201 is adjacent
Endpoint connection, available side length are the equilateral triangle EFG of a, and taking the midpoint EF is that origin establishes rectangular coordinate system in space o-
xyz.Wherein reference axis x is directed toward F point direction, and reference axis y is directed toward G point direction.
By operation handle 10 toward being pushed forward, until sliding block 202 reaches 201 end of linear guide, the state of hand controller is at this time
Original state.The movement of operation handle 10 is controlled, if three sliding blocks 202 are respectively h with respect to the displacement of original state1,h2,h3。
The side length of the equilateral triangle of known end movement plane is b.Lead between linear guide 201 and end movement plane
Cross the connection of parallel rod 901.Parallel rod 901 is equivalent in alignment, and the length is L.Three parallel rods 901 are equivalent
Line is translated to centre simultaneously, until their endpoint reaches the barycenter oftriangle D of end movement plane.Trigone is obtained at this time
D-ABC is bored, three rib length are L.
It crosses vertex D and makees vertical line, intersection point M to bottom surface ABC.The midpoint AB N is taken, MN is connected.Because point A, B, C is using D as ball
The heart, L are on the spherical surface of radius, so M is the unfaithful intention of triangle ABC.In triangle ABC, note
Wherein RespectivelyDirection andThe unit vector in direction.
Easy invocation point A, B, C coordinate:
D point coordinate can be calculated by formula (1), formula (2), formula (3) and the cosine law, so as to obtain operation handle 10
Displacement Pmea。
Step 3: by the displacement P of operation handle 10meaIt is mapped to the virtual protocol point of virtual environment in real time.Operator's control
During operation handle 10 processed moves, when the object in virtual protocol point and virtual environment collides, one will be generated
Virtual interacting power Fobj, the process that this reciprocal force is reproduced in operation handle 10 is as follows: first by virtual interacting power FobjPass through
Low-pass filter obtains a smooth power Fobj'.To Fobj' carry out power inverse solution, obtain each 6 needs of MR damper
The power of output.The input current I that MR damper 6 needs is obtained according to the power of MR damper 6-current relationship curved。
The driving of MR damper 6 controls the power output of MR damper 6.It is exported at this point, setting three MR dampers 6
Resultant force be Fd。
Then, according to the real-time measurements of three groups of tension sensors 5, practical function is calculated in the power of operation handle 10
For Fmea.By FmeaWith FobjIt is compared, obtains differential force Fdev.To FdevThe inverse solution for carrying out power, obtaining each direct current generator 7 needs
The power to be exported.The input current I of the needs of direct current generator 7 is obtained according to the power of direct current generator 7-current relationship curvev.By straight
The driving of galvanic electricity machine 7 controls the power output of direct current generator 7.At this point, setting the resultant force of three direct current generators 7 output as Fv。
Finally, by FdAnd FvSuperposition obtains actual reproduction to the reciprocal force F of user in operation handle 10a。
Claims (9)
1. a kind of force feedback hand controlled device of parallel Three Degree Of Freedom, it is characterised in that: the movement being centrosymmetrically arranged including several groups
Component；Moving component described in every group includes a linear guide mould group (2) and parallel linkage (9), further includes being separately positioned on
The front side transmission mechanism (3) and rear side transmission mechanism (4) of linear guide mould group (2) front and rear sides；
The linear guide mould group (2) includes a linear guide (201) and the sliding block being slidably mounted on linear guide (201)
(202)；The linear guide (201) of the several groups moving component is arranged in parallel；
The front side transmission mechanism (3) includes a follow-up pulley (303)；Rear side transmission mechanism (4) includes a driving pulley
(403) and driving driving pulley (403) rotation driving device；It is set on the follow-up pulley (303) and driving pulley (403)
Have transmission belt (502), transmission belt (502) follows follow-up pulley (303) and driving pulley (403) to move synchronously；The straight line is led
Rail (201) is generally aligned in the same plane with transmission belt (502), and the sliding block (202) is fixed on the transmission belt (502)；
The parallel linkage (9) includes a parallel rod (901)；One end of the parallel rod (901) passes through the 10000th
It is connect to shaft coupling (902) with sliding block (202)；The other end of the parallel rod (901) of the several groups moving component passes through the
Two Hooks coupling universal couplings (903) are commonly connected on an operation handle (10).
2. the force feedback hand controlled device of parallel Three Degree Of Freedom according to claim 1, it is characterised in that: the driving device packet
Include the MR damper (6) and direct current generator (7) being connected in the shaft of driving pulley (403).
3. the force feedback hand controlled device of parallel Three Degree Of Freedom according to claim 2, it is characterised in that: the driving pulley
(403) photoelectric encoder (8) are also equipped in shaft.
4. the force feedback hand controlled device of parallel Three Degree Of Freedom according to claim 3, it is characterised in that: the transmission belt
(502) it is provided with a section, two ends of the section are separately fixed at the front/rear end of the sliding block (202)；And
The junction of the end and sliding block (202) is provided with tension sensor (5).
5. the force feedback hand controlled device of parallel Three Degree Of Freedom according to any one of claims 1-4, it is characterised in that: described
The quantity of moving component is three groups.
6. the force feedback hand controlled device of parallel Three Degree Of Freedom according to claim 1, it is characterised in that: further include control circuit
(11)；The control circuit (11) includes power circuit, photoelectric encoder signal acquisition circuit, MR damper driving electricity
Road, direct current motor drive circuit, tension sensor signal acquisition circuit and telecommunication circuit.
7. the force feedback hand controlled device of parallel Three Degree Of Freedom according to claim 1, it is characterised in that: each transmission belt
It (502) include two wirerope being arranged in juxtaposition.
8. the force feedback hand controlled device of parallel Three Degree Of Freedom according to claim 1, it is characterised in that: the parallel rod
It (901) is hollow aluminum pipe.
9. the control method of the force feedback hand controlled device of parallel Three Degree Of Freedom according to any one of claims 1 to 8, special
Sign be the following steps are included:
Step 1: establishing the calibrating platform of MR damper (6) and direct current generator (7), obtain MR damper (6) respectively
Power-current relationship curve and direct current generator (7) power-current relationship curve；
Step 2: when operator controls operation handle (10) movement, moving sliding block (202)；Photoelectric encoder (8) can be with
The displacement for respectively obtaining corresponding sliding block (202) calculates the displacement P of operation handle (10) according to position calculation methodmea；
Step 3: by the displacement P of operation handle (10)meaIt is mapped to the virtual protocol point of virtual environment in real time；Operator's control
During operation handle (10) moves, when the object in virtual protocol point and virtual environment collides, one will be generated
Virtual interacting power Fobj, the process that this reciprocal force is reproduced on operation handle (10) is as follows:
First by virtual interacting power FobjBy filtering inverse solution, the power that each MR damper (6) need to export is obtained；According to
The power of MR damper (6)-current relationship curve obtains the input current I that MR damper (6) needd；Magnetic current variable resistance
Buddhist nun's device (6) driving controls the power output of MR damper (6)；If the resultant force of multiple MR damper (6) outputs
For Fd；
Then, according to the real-time measurements of tension sensor (5), the power for calculating practical function in operation handle (10) is
Fmea；By FmeaWith FobjIt is compared, obtains differential force Fdev；
To FdevThe inverse solution for carrying out power obtains the power that each direct current generator (7) need to export；According to power-electricity of direct current generator (7)
Flow relation curve obtains the input current I of direct current generator (7) needsv；Direct current generator (7) drives the output to direct current generator (7)
Power is controlled；If the resultant force of multiple direct current generator (7) outputs is Fv；
Finally, by FdAnd FvSuperposition obtains actual reproduction to the reciprocal force F of user in operation handle (10)a。
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112247961A (en) * | 2020-10-15 | 2021-01-22 | 中国科学院自动化研究所 | Rope traction parallel mechanism experimental device |
| CN112807090A (en) * | 2021-01-06 | 2021-05-18 | 西安交通大学 | Magneto-rheological hydraulic feedback device for main manipulator of minimally invasive surgery robot |
| CN113524154A (en) * | 2021-07-20 | 2021-10-22 | 江苏科技大学 | Non-contact sucker carrying device with force feedback speed limiting function and control method |
| CN113606466A (en) * | 2021-10-08 | 2021-11-05 | 成都理工大学 | Portable binocular photogrammetry device |
| CN113623506A (en) * | 2021-10-08 | 2021-11-09 | 成都理工大学 | Rotary scanning type binocular photogrammetry device |
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| CN112807090A (en) * | 2021-01-06 | 2021-05-18 | 西安交通大学 | Magneto-rheological hydraulic feedback device for main manipulator of minimally invasive surgery robot |
| CN113524154A (en) * | 2021-07-20 | 2021-10-22 | 江苏科技大学 | Non-contact sucker carrying device with force feedback speed limiting function and control method |
| CN113606466A (en) * | 2021-10-08 | 2021-11-05 | 成都理工大学 | Portable binocular photogrammetry device |
| CN113623506A (en) * | 2021-10-08 | 2021-11-09 | 成都理工大学 | Rotary scanning type binocular photogrammetry device |
| CN113623506B (en) * | 2021-10-08 | 2022-01-04 | 成都理工大学 | Rotary scanning type binocular photogrammetry device |
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