CN1206082C - Hand controller of six freedom universal isomeric robot - Google Patents

Abstract

The present invention relates to a hand controller for a six-freedom universal isomeric robot, which is composed a hand rotating mechanism, a bracket and a balance weight, wherein a dual-parallel link mechanism composed of 3 to 4 links is arranged on the bracket, wherein one link is provided with three universal joints, an angular displacement sensor is arranged on the middle universal joint, and an angular displacement sensor is arranged on the middle universal joint of another link; the mechanism is connected with a balance weight connecting piece, and the balance weight connecting piece is provided with a plane which is connected with the universal joints of the dual-parallel link mechanism; the balance weight is arranged on the balance weight connecting piece, the dual-parallel link mechanism is provided with a link mechanism connecting piece with two perpendicular planes, one plane is connected with the dual-parallel link mechanism, and the other plane is in rotary connection with a single-parallel link mechanism at least with two links; one end of each of the links is in rotary connection with the link mechanism connecting piece, and the other end of each of the links is in rotary connection with the connecting piece and the connecting points are positioned in the same plane; any rotary connecting point of the single-parallel link mechanism is provided with an angular displacement sensor, the connecting piece is provided with a plane which is parallel to the connecting points, and hand rotating mechanism is arranged on the plane.

Description

Translated fromChinese

6自由度通用型异构式机器人手控器6 degrees of freedom universal heterogeneous robot hand controller

一、技术领域1. Technical field

本发明涉及机器人控制的人机接口装置，尤其是6自由度通用型异构式机器人手控器。The invention relates to a man-machine interface device controlled by a robot, in particular to a 6-degree-of-freedom universal heterogeneous robot hand controller.

二、背景技术2. Background technology

随着交互式遥操作机器人的广泛应用，将需要大量的具有力觉反馈作用的人机接口装置。数据手套和机器人手控器是两种常见的遥操作机器人的人机接口装置，由于数据手套无法测量人手臂关节的变化，并且缺乏有效的力觉反馈，因此，机器人手控器是实现遥操作机器人控制的最有效的人机接口装置，它一方面通过测量操作者手部的位置信息作为控制指令控制机械手或虚拟现实中的虚拟机械手跟踪人手的运动，另一方面，将机器人反馈回来的力觉和触觉信息转换成直接作用于人手的力或力矩，使操作者产生在远地机器人工作现场或虚拟机器人工作现场的“身临其境”的力觉/触觉临场感效果，从而实现对机器人带感觉的控制，或者在虚拟环境中产生真实的触摸感受。机器人手控器可分为同构式和异构式两种，现有的手控器大都是同构式的，同构式手控器与远地机械手具有相同的结构和自由度，采取关节——关节的驱动方式。机器人同构式手控器虽然控制简单，但其只能用于特定型号的机器人控制，缺少通用性。因此，通用型的手控器都采用和机器人结构不同的异构方式，现有的异构式手控器有笔形操作杆结构、并联结构、串/并联混合结构、一体化的闭链式结构和基于Delta机构的异构式手控器。前4种异构式手控器的缺点在于存在着无法克服的平动与转动之间的运动耦合和力的耦合，后一种基于Delta机构的异构式手控器缺点在于工作空间小、无法克服重力的影响，并且控制复杂。With the widespread application of interactive teleoperated robots, a large number of human-machine interface devices with force feedback will be required. Data gloves and robot hand controllers are two common man-machine interface devices for teleoperation robots. Since data gloves cannot measure the changes in human arm joints and lack effective force feedback, robot hand controllers are the best way to realize teleoperation The most effective human-machine interface device for robot control. On the one hand, it measures the position information of the operator's hand as a control command to control the manipulator or the virtual manipulator in virtual reality to track the movement of the human hand. On the other hand, it feeds back the force of the robot The sensory and tactile information is converted into the force or moment directly acting on the human hand, so that the operator can produce the "immersive" force/tactile presence effect on the remote robot work site or virtual robot work site, so as to realize the control of the robot. Sensory controls, or realistic touch sensations in virtual environments. Robotic hand controllers can be divided into isomorphic and heterogeneous. Most of the existing hand controllers are isomorphic. The isomorphic hand controller has the same structure and degrees of freedom as the remote manipulator. - the drive mode of the joint. Although the isomorphic hand controller of the robot is simple to control, it can only be used for the control of a specific type of robot and lacks versatility. Therefore, the general-purpose hand controllers all adopt heterogeneous methods different from the robot structure. The existing heterogeneous hand controllers have a pen-shaped joystick structure, a parallel structure, a series/parallel hybrid structure, and an integrated closed-chain structure. And the heterogeneous hand controller based on the Delta mechanism. The disadvantage of the first four kinds of heterogeneous hand controllers is that there is an insurmountable kinematic coupling and force coupling between translation and rotation. The disadvantage of the latter heterogeneous hand controller based on the Delta mechanism is that the working space is small, Unable to overcome the effects of gravity and complicated to control.

三、技术内容3. Technical content

技术问题本发明提供一种有利于提高测量精度的6自由度通用型异构式机器人手控器，它可以从结构本身消除3维平动与3维转动之间的耦合。Technical Problem The present invention provides a 6-DOF general-purpose heterogeneous robot hand controller that is conducive to improving measurement accuracy, and it can eliminate the coupling between 3-dimensional translation and 3-dimensional rotation from the structure itself.

技术方案一种6自由度通用型异构式机器人手控器，由手部驱动机构10、支架1和配重2组成，在支架1上设有双平行联杆机构8，该双平行联杆机构8由3～4根联杆构成，在每根联杆上有三个可围绕Z轴和Y轴旋转的2自由度万向节，在位居联杆中间的万向节上设有检测Y向平动的角位移传感器3，在位居另一联杆中间的万向节上设有检测Z向平动的角位移传感器4，双平行联杆机构8通过位于其一边的可围绕Z轴和Y轴旋转的2自由度万向节连接有配重连接件5，在该配重连接件5上设有平面，该平面与上述位于双平行联杆机构8的一边的可围绕Z轴和Y轴旋转的2自由度万向节连接，配重2设在配重连接件5上，双平行联杆机构通过位于其上另一边的可围绕Z轴和Y轴旋转的2自由度万向节连接联杆机构连接件7，在该联杆机构连接件7上设有2个相互垂直的平面，其中一平面与双平行联杆机构8上另一边的可围绕Z轴和Y轴旋转的2自由度万向节连接，在另一平面上转动连接有单平行联杆机构9，单平行联杆机构9又转动连接有连接件6，该单平行联杆机构9至少包括2根联杆，这些联杆的一端与上述联杆机构连接件7的另一平面转动连接，联杆的另一端与连接件6转动连接且连接点位于同一平面内，在单平行联杆机构9的任一转动连接点上设有用于检测X向平动的角位移传感器11，在连接件6上设有与单平行机构连接点所在平面平行的平面，手部转动机构10设在该平面上，上述位居在双平行联杆机构中的一根联杆中间位万向节上设有一维平动力反馈电机(20)，在位居另一根联杆中间万向节上设有另一维平动力反馈电机(21)，在单平行联杆机构的任一转动连接点上设有再一维平动力反馈电机(22)，在手部转动机构(10)的三个转动部件(12、13和14)上分别设有力矩反馈电机(23、24和25)。Technical solution A 6-degree-of-freedom general-purpose heterogeneous robot hand controller is composed of ahand drive mechanism 10, a bracket 1 and acounterweight 2, and a doubleparallel linkage mechanism 8 is arranged on the bracket 1. The doubleparallel linkages Mechanism 8 is composed of 3 to 4 links, and each link has three 2-degree-of-freedom joints that can rotate around the Z-axis and Y-axis, and the universal joint in the middle of the links is equipped with a detection Y Anangular displacement sensor 3 for translational movement, anangular displacement sensor 4 for detecting translational movement in the Z direction is provided on the universal joint located in the middle of the other link, and the doubleparallel linkage mechanism 8 can surround the Z axis and the Y The 2-degree-of-freedom universal joint that rotates the shaft is connected with acounterweight connector 5, on which a plane is arranged, which can surround the Z-axis and the Y-axis with the above-mentioned one side of the doubleparallel linkage mechanism 8 Rotating 2-degree-of-freedom universal joint connection, thecounterweight 2 is set on thecounterweight connector 5, and the double parallel linkage mechanism is connected by a 2-degree-of-freedom universal joint that can rotate around the Z-axis and Y-axis on the other side Thelink mechanism connector 7 is provided with 2 mutually perpendicular planes on thelink mechanism connector 7, one of which is free from the other side of the doubleparallel link mechanism 8 that can rotate around the Z axis and the Y axis. degree universal joint connection, a singleparallel link mechanism 9 is rotatably connected on another plane, and the singleparallel link mechanism 9 is rotatably connected with a connectingpiece 6, and the singleparallel link mechanism 9 includes at least two links, these One end of the link is rotationally connected with the other plane of the above-mentionedlink mechanism connector 7, and the other end of the link is rotationally connected with theconnector 6 and the connection point is located in the same plane. Any rotational connection of the singleparallel link mechanism 9 The point is provided with anangular displacement sensor 11 for detecting X-direction translation, and the connectingpiece 6 is provided with a plane parallel to the plane where the connection point of the single parallel mechanism is located, and thehand rotation mechanism 10 is located on this plane. A one-dimensional flat power feedback motor (20) is provided on the middle universal joint of one link in the parallel link mechanism, and another one-dimensional flat power feedback motor (20) is arranged on the middle universal joint of the other link. 21), there is another one-dimensional flat power feedback motor (22) on any rotation connection point of the single parallel linkage mechanism, and on the three rotating parts (12, 13 and 14) of the hand rotation mechanism (10) Torque feedback motors (23, 24 and 25) are respectively provided.

有益效果(1)本发明通过单、双平行联杆机构来实现三维平动，而通过手部转动机构来实现三维转动，使平动和转动不会发生耦合，因此，从结构上清除了3维平动和3维转动之间的耦合，本发明的重心落于支架上，避免了重力对本发明的影响，有利于测量精度的提高。本发明的这种技术方案与力反馈电机技术措施的结合，使本发明成为具有力反馈功能的手控器，它能避免位置测量和力觉再现控制过程中平动与转动之间复杂的耦合关系，提高测量精度和力觉感知的真实性。(2)平行联杆机构的技术方案，同原有的Δ一机构相比具有体积较小但工作空间较大的优点。(3)本发明所采用的以3个相互垂直且可相近转动的转动部件构成的手部转动机构改变了现有技术中的球形转动机构，具有操作方便，不仅可实现手腕的力矩反馈功能，而且可以实现手指关节的力矩反馈动能，尤其是本发明采用了力矩电机的技术措施后，使本发明成为力反馈手控器，而上述结构具有便于控制电机实现力反馈的优点。(4)本发明采用一对绕同一维转动的指套结构后，使本发明不仅可以控制机械手的运动，而且可以直接控制机器手爪的抓取运动，尤其适合于操纵机器人的抓握、缝合等作业任务。Beneficial effects (1) The present invention realizes three-dimensional translation through single and double parallel link mechanisms, and realizes three-dimensional rotation through the hand rotation mechanism, so that translation and rotation will not be coupled. Due to the coupling between the three-dimensional translation and the three-dimensional rotation, the center of gravity of the present invention falls on the support, which avoids the influence of gravity on the present invention and is beneficial to the improvement of measurement accuracy. The combination of the technical solution of the present invention and the technical measures of the force feedback motor makes the present invention a hand controller with force feedback function, which can avoid the complex coupling between translation and rotation in the process of position measurement and force sense reproduction control relationship, improving measurement accuracy and authenticity of force perception. (2) The technical scheme of the parallel link mechanism has the advantages of smaller volume but larger working space compared with the original Δ-mechanism. (3) The hand rotation mechanism adopted by the present invention is composed of three mutually perpendicular and similarly rotatable rotating parts, which has changed the spherical rotation mechanism in the prior art and is easy to operate. It can not only realize the torque feedback function of the wrist, Moreover, the torque feedback kinetic energy of the finger joints can be realized, especially after the present invention adopts the technical measures of the torque motor, the present invention becomes a force feedback hand controller, and the above-mentioned structure has the advantage of being convenient to control the motor to realize force feedback. (4) After the present invention adopts a pair of finger cuff structures that rotate around the same dimension, the present invention can not only control the movement of the manipulator, but also directly control the grasping motion of the robot's claws, and is especially suitable for manipulating the grasping and sewing of robots Wait for homework tasks.

四、附图说明4. Description of drawings

图1是本发明实施例的结构示意图。Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

图2是本发明双平行联杆机构实施例的结构示意图。Fig. 2 is a structural schematic diagram of an embodiment of the double parallel link mechanism of the present invention.

图3是本发明双平行联杆机构另一实施例的结构示意图。Fig. 3 is a structural schematic diagram of another embodiment of the double parallel link mechanism of the present invention.

图4是本发明单平行联杆机构实施例的结构示意图。Fig. 4 is a schematic structural diagram of an embodiment of the single parallel linkage mechanism of the present invention.

图5是本发明手部转动机构实施例的结构示意图。Fig. 5 is a structural schematic diagram of an embodiment of the hand rotation mechanism of the present invention.

图6是本发明手部转动机构另一实施例的结构示意图。Fig. 6 is a structural schematic diagram of another embodiment of the hand rotating mechanism of the present invention.

图中“Δ”标记表示该处固定不动，具体可采用与支架相连的方式或其他固定不动的连接方式。The "Δ" mark in the figure indicates that this place is fixed, and it can be connected with the bracket or other fixed connection methods.

五、具体实施方案5. Specific implementation plan

实施例1  本实施例涉及一种6自由度通用型异构式机器人手控器，由手部驱动机构10、支架1和配重2组成，其特征在于在支架1上设有双平行联杆机构8，该双平行联杆机构8由3～4根联杆构成，在每根联杆上有三个可围绕Z轴和Y轴旋转的2自由度万向节，在位居联杆中间的万向节上设有检测Y向平动的角位移传感器3，在位居另一联杆中间的万向节上设有检测Z向平动的角位移传感器4，双平行联杆机构8通过位于其一边的可围绕Z轴和Y轴旋转的2自由度万向节连接有配重连接件5，在该配重连接件5上设有平面，该平面与上述位于双平行联杆机构8的一边的可围绕Z轴和Y轴旋转的2自由度万向节连接，配重2设在配重连接件5上，配重连接件5与配重2可以构成整体，即可采用直接在配重上设一平面并由该平面与万向节连接，配重连接件5与配重2也可以采用分体结构，即可采用在配重连接件5上设一螺杆并将配重2旋在其上，双平行联杆机构通过位于其上另一边的可围绕Z轴和Y轴旋转的2自由度万向节连接联杆机构连接件7，在该联杆机构连接件7上设有2个相互垂直的平面，其中一平面与双平行联杆机构8上另一连的可围绕Z轴和Y轴旋转的2自由度万向节连接，在另一平面上转动连接有单平行联杆机构9，单平行联杆机构9又转动连接有连接件6，该单平行联杆机构9至少包括2根联杆，这些联杆的一端与上述联杆机构连接件7的另一平面转动连接，这些联杆的另一端与连接件6转动连接且连接点位于同一平面内，在单平行联杆机构9的任一转动连接点上设有用于检测X向平动的角位移传感器11，在连接件6上设有与单平行机构连接点所在平面平行的平面，手部转动机构10设在该平面上，手部转动机构10包括3个转动部件12、13、14，该3个转动部件12、13、14相互垂直且转动连接，在3个转动部件12、13、14上分别设有角位移传感器15、16和17，其中一个转动部件为“U”形框架，另两个转动部件分别为转轴131和141，转动部件14上固定有指套。Embodiment 1 This embodiment relates to a 6-degree-of-freedom general-purpose heterogeneous robot hand controller, which is composed of ahand drive mechanism 10, a bracket 1 and acounterweight 2, and is characterized in that the bracket 1 is provided with doubleparallel links Mechanism 8, the double-parallel linkage mechanism 8 is composed of 3 to 4 linkages, and each linkage has three 2-degree-of-freedom joints that can rotate around the Z-axis and Y-axis. The universal joint is provided with anangular displacement sensor 3 for detecting translation in the Y direction, and the universal joint located in the middle of the other link is provided with anangular displacement sensor 4 for detecting translation in the Z direction. The doubleparallel linkage mechanism 8 passes through the The 2-degree-of-freedom universal joint that can rotate around the Z axis and the Y axis on one side is connected with a counterweight connectingpiece 5, and a plane is arranged on thecounterweight connecting piece 5, which is connected to the above-mentioned one side of the doubleparallel linkage mechanism 8. The 2-degree-of-freedom universal joint that can rotate around the Z-axis and the Y-axis is connected, and thecounterweight 2 is set on the counterweight connectingpiece 5. The counterweight connectingpiece 5 and thecounterweight 2 can form a whole, that is, the There is a plane on it and the plane is connected with the universal joint, and thecounterweight connector 5 and thecounterweight 2 can also adopt a split structure, that is, a screw rod is set on thecounterweight connector 5 and thecounterweight 2 is screwed on On it, the double parallel link mechanism is connected to the linkmechanism connecting piece 7 through a 2-degree-of-freedom universal joint that can rotate around the Z axis and the Y axis on the other side, and the linkmechanism connecting piece 7 is provided with 2 Two mutually perpendicular planes, one of which is connected with another 2-degree-of-freedom universal joint that can rotate around the Z-axis and Y-axis on the double-parallel linkage mechanism 8, and is connected with a single-parallel linkage mechanism on the other plane. 9. The singleparallel linkage mechanism 9 is rotatably connected with theconnector 6, and the singleparallel linkage mechanism 9 includes at least two linkages, and one end of these linkages is rotationally connected with the other plane of thelinkage linkage 7, The other ends of these linkages are rotationally connected with theconnectors 6 and the connection points are located in the same plane. Anangular displacement sensor 11 for detecting X-direction translation is provided on any rotational connection point of the singleparallel linkage mechanism 9 . 6 is provided with a plane parallel to the plane where the connection point of the single parallel mechanism is located, and thehand rotating mechanism 10 is located on this plane. Thehand rotating mechanism 10 includes 3 rotating parts 12, 13, 14, and the 3 rotating parts 12, 13 and 14 are perpendicular to each other and connected in rotation. Angular displacement sensors 15, 16 and 17 are respectively arranged on the three rotating parts 12, 13 and 14. One of the rotating parts is a "U"-shaped frame, and the other two rotating parts are respectively The rotating shafts 131 and 141 are fixed with finger cots on the rotating part 14 .

实施例2  本实施例涉及一种6自由度通用型异构式机器人手控器，由手部驱动机构10、支架1和配重2组成，其特征在于在支架1上设有双平行联杆机构8，该双平行联杆机构8由3～4根联杆构成，在每根联杆上有三个可围绕Z轴和Y轴旋转的2自由度万向节，在位居联杆中间的万向节上设有检测X向平动的角位移传感器4，在位居另一联杆中间的万向节上设有检测Y向平动的角位移传感器3，双平行联杆机构8通过位于其一边的可围绕Z轴和Y轴旋转的2自由度万向节连接有配重连接件5，在该配重连接件5上设有平面，该平面与上述位于双平行联杆机构8的一边的可围绕Z轴和Y轴旋转的2自由度万向节连接，配重2设在配重连接件5上，双平行联杆机构通过位于其上另一边的可围绕Z轴和Y轴旋转的2自由度万向节连接联杆机构连接件7，在该联杆机构连接件7上设有2个相互垂直的平面，其中一平面与双平行联杆机构8上另一边的可围绕Z轴和Y轴旋转的2自由度万向节连接，在另一平面上转动连接有单平行联杆机构9，单平行联杆机构9又转动连接有连接件6，该单平行联杆机构9至少包括2根联杆，这些联杆的一端与上述联杆机构连接件7的另一平面转动连接，这些联杆的另一端与连接件6转动连接且连接点位于同一平面内，在单平行联杆机构9的任一转动连接点上设有用于检测X向平动的角位移传感器11，在连接件6上设有与单平行机构连接点所在平面平行的平面，手部转动机构10设在该平面上，手部转动机构10包括3个转动部件12、13、14，该3个转动部件12、13、14相互垂直且转动连接，在3个转动部件12、13、14上分别设有角位移传感器15、16和17，转动部件12为“U”形框架，另一转动部件14由2个转轴141和142组成，在转轴141和142上分别固定有指套18和19，位居在双平行联机构中的一根联杆中间位万向节上设有一维平动力反馈电机20，在位居另一根联杆中间万向节上设有另一维平动力反馈电机21，在单平行联杆机构的任一转动连接点上设有再一维平动力反馈电机22，在手部转动机构10的三个转动部件12、13和14上分别设有力矩反馈电机23、24和25。上述角位移传感器的转动元件和力反馈电机或力矩反馈电机可以设在同一万向节上或使其构成一整体结构，即角位移传感器的转动元件和力反馈电机或力矩反馈电机的输出轴固定连接(参照图3)。Embodiment 2 This embodiment relates to a 6-degree-of-freedom general-purpose heterogeneous robot hand controller, which is composed of ahand drive mechanism 10, a bracket 1 and acounterweight 2, and is characterized in that the bracket 1 is provided with doubleparallel links Mechanism 8, the double-parallel linkage mechanism 8 is composed of 3 to 4 linkages, and each linkage has three 2-degree-of-freedom joints that can rotate around the Z-axis and Y-axis. Anangular displacement sensor 4 for detecting X-direction translation is provided on the universal joint, and anangular displacement sensor 3 for detecting Y-direction translation is provided on the universal joint located in the middle of the other link. The 2-degree-of-freedom universal joint that can rotate around the Z axis and the Y axis on one side is connected with a counterweight connectingpiece 5, and a plane is arranged on the counterweight connectingpiece 5, which is connected to the above-mentioned one side of the doubleparallel linkage mechanism 8. The 2-degree-of-freedom universal joint connection that can rotate around the Z-axis and the Y-axis, thecounterweight 2 is set on thecounterweight connector 5, and the double parallel linkage mechanism can rotate around the Z-axis and Y-axis through the other side of it. The 2-degree-of-freedom universal joint connects the linkmechanism connecting piece 7, and is provided with 2 mutually perpendicular planes on the linkmechanism connecting piece 7, wherein one plane and the other side on the double-parallel link mechanism 8 can surround Z The 2-degree-of-freedom universal joint connecting the axis and the Y-axis rotates, and a singleparallel link mechanism 9 is rotatably connected on another plane, and the singleparallel link mechanism 9 is rotatably connected with a connectingpiece 6. Include at least 2 connecting rods, one end of these connecting rods is connected to the other plane of the connectingmember 7 of the above-mentioned connecting rod in rotation, the other end of these connecting rods is connected in rotating to the connectingmember 6 and the connecting points are located in the same plane, in a single parallel Any rotation connection point of thelink mechanism 9 is provided with anangular displacement sensor 11 for detecting X-direction translation, and a plane parallel to the plane where the connection point of the single parallel mechanism is provided on theconnector 6, and thehand rotation mechanism 10 is located at On this plane, thehand rotating mechanism 10 includes three rotating parts 12, 13, 14, and the three rotating parts 12, 13, 14 are mutually vertical and connected in rotation, and the three rotating parts 12, 13, 14 are respectively provided with Angular displacement sensors 15, 16 and 17, the rotating part 12 is a "U"-shaped frame, and the other rotating part 14 is made up of two rotating shafts 141 and 142, and finger sleeves 18 and 19 are respectively fixed on the rotating shafts 141 and 142. A one-dimensional flatpower feedback motor 20 is provided on the middle universal joint of one link in the double parallel linkage mechanism, and another two-dimensional flatpower feedback motor 21 is arranged on the middle universal joint of the other link. Another one-dimensional flatpower feedback motor 22 is provided on any rotation connection point of the single parallel linkage mechanism, and torque feedback motors 23, 24 are respectively provided on the three rotating parts 12, 13 and 14 of thehand rotation mechanism 10. and 25. The rotating element of the above-mentioned angular displacement sensor and the force feedback motor or the torque feedback motor can be arranged on the same universal joint or make it form an integral structure, that is, the rotating element of the angular displacement sensor and the output shaft of the force feedback motor or the torque feedback motor Fixed connection (refer to Figure 3).

Claims (5)

Translated fromChinese

1、一种6自由度通用型异构式机器人手控器，由手部转动机构(10)、支架(1)和配重(2)组成，其特征在于在支架(1)上设有双平行联杆机构(8)，该双平行联杆机构(8)由3～4根联杆构成，在每根联杆上有三个可围绕Z轴和Y轴旋转的2自由度万向节，在位居联杆中间的万向节上设有检测Y向平动的角位移传感器(3)，在位居另一联杆中间的万向节上设有检测Z向平动的角位移传感器(4)，双平行联杆机构(8)通过位于其一边的可围绕Z轴和Y轴旋转的2自由度万向节连接有配重连接件(5)，在该配重连接件(5)上设有平面，该平面与上述位于双平行联杆机构(8)的一边的可围绕Z轴和Y轴旋转的2自由度万向节连接，配重(2)设在配重连接件(5)上，双平行联杆机构通过位于其上另一边的可围绕Z轴和Y轴旋转的2自由度万向节连接联杆机构连接件(7)，在该联杆机构连接件(7)上设有2个相互垂直的平面，其中一平面与双平行联杆机构(8)上另一边的可围绕Z轴和Y轴旋转的2自由度万向节连接，在另一平面上转动连接有单平行联杆机构(9)，单平行联杆机构(9)又转动连接有连接件(6)，该单平行联杆机构(9)至少包括2根联杆，这些联杆的一端与上述联杆机构连接件(7)的另一平面转动连接，这些联杆的另一端与连接件(6)转动连接且连接点位于同一平面内，在单平行联杆机构(9)的任一转动连接点上设有用于检测X向平动的角位移传感器(11)，在连接件(6)上设有与单平行机构连接点所在平面平行的平面，手部转动机构(10)设在该平面上，上述位居在双平行联杆机构中的一根联杆中间位万向节上设有一维平动力反馈电机(20)，在位居另一根联杆中间万向节上设有另一维平动力反馈电机(21)，在单平行联杆机构的任一转动连接点上设有再一维平动力反馈电机(22)，在手部转动机构(10)的三个转动部件(12、13和14)上分别设有力矩反馈电机(23、24和25)。1. A 6-degree-of-freedom general-purpose heterogeneous robot hand controller, consisting of a hand rotation mechanism (10), a bracket (1) and a counterweight (2), is characterized in that the bracket (1) is provided with double A parallel link mechanism (8), the double parallel link mechanism (8) is composed of 3 to 4 links, and each link has three 2-degree-of-freedom universal joints that can rotate around the Z-axis and the Y-axis, An angular displacement sensor (3) for detecting translation in the Y direction is provided on the universal joint in the middle of the link, and an angular displacement sensor (4) for detecting translation in the Z direction is provided on the universal joint in the middle of the other link. ), the double parallel link mechanism (8) is connected with a counterweight connector (5) through a 2-degree-of-freedom universal joint that can rotate around the Z-axis and Y-axis on one side, and on the counterweight connector (5) A plane is provided, which is connected with the above-mentioned 2-DOF universal joint that can rotate around the Z-axis and Y-axis on one side of the double-parallel link mechanism (8), and the counterweight (2) is arranged on the counterweight connector (5 ), the double-parallel linkage mechanism connects the linkage mechanism connecting piece (7) through a 2-degree-of-freedom universal joint that can rotate around the Z-axis and the Y-axis on the other side, and the linkage mechanism connecting piece (7) There are 2 mutually perpendicular planes, one of which is connected to the 2-degree-of-freedom joint on the other side of the double-parallel link mechanism (8) that can rotate around the Z-axis and Y-axis, and is connected by rotation on the other plane. There is a single parallel link mechanism (9), and the single parallel link mechanism (9) is rotatably connected with a connector (6). The other plane of the above-mentioned link mechanism connector (7) is rotationally connected, and the other ends of these linkages are rotationally connected with the connector (6) and the connection points are located in the same plane. An angular displacement sensor (11) for detecting X-direction translation is provided on the rotation connection point, and a plane parallel to the plane where the connection point of the single parallel mechanism is located is provided on the connector (6), and the hand rotation mechanism (10) is located on this On the plane, a one-dimensional flat power feedback motor (20) is provided on the middle universal joint of one link in the double parallel link mechanism, and a one-dimensional flat power feedback motor (20) is arranged on the middle universal joint of the other link. Another one-dimensional flat power feedback motor (21) is provided with another one-dimensional flat power feedback motor (22) on any rotating connection point of the single parallel linkage mechanism, and three rotating parts of the hand rotating mechanism (10) (12, 13 and 14) are respectively provided with torque feedback motors (23, 24 and 25).2、根据权利要求1所述的6自由度通用型异构式机器人手控器，其特征在于手部转动机构(10)包括3个转动部件(12、13、14)，该3个转动部件(12、13、14)相互垂直且转动连接，在3个转动部件(12、13、14)上分别设有角位移传感器(15、16和17)。2. The 6-DOF general-purpose heterogeneous robot hand controller according to claim 1, characterized in that the hand rotation mechanism (10) includes 3 rotating parts (12, 13, 14), and the 3 rotating parts (12, 13, 14) are perpendicular to each other and connected in rotation, and angular displacement sensors (15, 16 and 17) are respectively arranged on the three rotating parts (12, 13, 14).3、根据权利要求2所述的6自由度通用型异构式机器人手控器，其特征在于其中一个转动部件为“U”形框架，另两个转动部件分别为转轴(131和141)。3. The 6-DOF universal heterogeneous robot hand controller according to claim 2, characterized in that one of the rotating parts is a "U"-shaped frame, and the other two rotating parts are rotating shafts (131 and 141).4、根据权利要求2或3所述的6自由度通用型异构式机器人手控器，其特征在转动部件(14)上固定有指套。4. The 6-DOF universal heterogeneous robot hand controller according to claim 2 or 3, characterized in that a finger cot is fixed on the rotating part (14).5、根据权利要求2所述的6自由度通用型异构式机器人手控器，其特征在于转动部件(12)为“U”形框架，另一转动部件(14)由2个转轴(141和142)组成，在转轴(141和142)上分别固定有指套(18和19)。5. The 6-degree-of-freedom universal heterogeneous robot hand controller according to claim 2, characterized in that the rotating part (12) is a "U"-shaped frame, and the other rotating part (14) consists of two rotating shafts (141 and 142), the rotating shafts (141 and 142) are respectively fixed with finger cots (18 and 19).

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