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2. 发明授权

US5193963A Force reflecting hand controller 失效
标题翻译：力反射手控制器
公开(公告)号：US5193963A
公开(公告)日：1993-03-16
申请号：US608658
申请日：1990-10-31
申请人： Douglas A. McAffee , Edward R. Snow , William T. Townsend
发明人： Douglas A. McAffee , Edward R. Snow , William T. Townsend
IPC分类号： B25J3/04 , B25J13/02
CPC分类号： B25J3/04 , B25J13/025
摘要： A universal input device for interfacing a human operator with a slave machine such as a robot or the like includes a plurality of serially connected mechanical links extending from a base. A handgrip is connected to the mechanical links distal from the base such that a human operator may grasp the handgrip and control the position thereof relative to the base through the mechanical links. A plurality of rotary joints is arranged to connect the mechanical links together to provide at least three translational degrees of freedom and at least three rotational degrees of freedom of motion of the handgrip relative to the base. A cable and pulley assembly for each joint is connected to a corresponding motor for transmitting forces from the slave machine to the handgrip to provide kinesthetic feedback to the operator and for producing control signals that may be transmitted from the handgrip to the slave machine. The device gives excellent kinesthetic feedback, high-fidelity force/torque feedback, a kinematically simple structure, mechanically decoupled motion in all six degrees of freedom, and zero backlash. The device also has a much larger work envelope, greater stiffness and responsiveness, smaller stowage volume, and better overlap of the human operator's range of motion than previous designs.
摘要翻译：用于将操作者与诸如机器人等的从机接口的通用输入装置包括从基座延伸的多个串联连接的机械连杆。手柄连接到远离基座的机械连杆，使得操作者可以抓握手柄并且通过机械连杆来控制其相对于基座的位置。多个旋转接头被布置成将机械连杆连接在一起，以提供手柄相对于基座的至少三个平移自由度和至少三个旋转自由度的运动自由度。用于每个接头的电缆和滑轮组件连接到相应的电动机，以将力从从机传递到手柄，以向操作员提供动觉反馈，并产生可从手柄传送到从机的控制信号。该装置具有出色的动觉反馈，高保真力/扭矩反馈，运动学简单的结构，所有六个自由度的机械去耦运动和零间隙。该设备还具有比以前的设计更大的工作范围，更大的刚度和响应性，更小的存储体积以及更好的人机操作员的运动范围。

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