CN102759995A - Spatial six-dimensional computer input device - Google Patents
Spatial six-dimensional computer input device Download PDFInfo
- Publication number
- CN102759995A CN102759995A CN2012101942951A CN201210194295A CN102759995A CN 102759995 A CN102759995 A CN 102759995A CN 2012101942951 A CN2012101942951 A CN 2012101942951A CN 201210194295 A CN201210194295 A CN 201210194295A CN 102759995 A CN102759995 A CN 102759995A
- Authority
- CN
- China
- Prior art keywords
- guide rail
- moving platform
- bulb
- bearing
- mounting hole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- A Measuring Device Byusing Mechanical Method (AREA)
- Position Input By Displaying (AREA)
Abstract
The invention provides a spatial six-dimensional computer input device, which comprises a frame body support mechanism, a platform guide rail mechanism and a handle, wherein the platform guide rail mechanism comprises a movable platform and six moving guiding rails; the movable platform adopts a cubic structure; the six moving guiding rails are divided into two X-direction moving guiding rails, two Y-direction moving guiding rails and two Z-direction moving guiding rails; the frame body support mechanism comprises an X-direction bracket, a Y-direction bracket, a Z-direction bracket and a movable platform support spring; the bottom surface of the movable platform is supported and fixed on the movable platform support spring; in addition, front connecting rods of the moving guiding rails penetrate through guiding rail through-holes formed on support saddles of guiding rail mounting boards on the direction brackets, and are in interference fit with the guiding rail through-holes. The spatial six-dimensional computer input device adopts displacement sensing to enable an operated object to move in three directions and rotate in three directions in three-dimensional space, satisfies omnidirectional browse and other operations on a three dimensional solid, achieves operation reality sense, and enables an operator to sense motion/rotation more factually in a macro motion range.
Description
Technical field
The present invention relates to computer virtual reality analogue technique field, be specially a kind of six-dimensional space computer entry device.
Background technology
The computer entry device majority of practical application at present is a bidimensional; Only have two the momental inputs in plane; But along with the appearance of three-dimensional modeling technology and the development of virtual reality technology; The motion of input equipment not only is confined to the motion on the X-Y plane, and wants to realize the mobile rotation that reaches around the certain spatial axle by operand any direction in three dimensions, to satisfy the comprehensive of three-dimensional modeling entity even whole virtual scene on the screen is browsed and other associative operation.Like the robot of under abominable and hazardous environment, working, the flight simulator in the flight simulation system, and the aircraft in space all need people to move and Three dimensional rotation by the sextuple computer entry device space three-dimensional of controlling them of giving an order.
At present a lot of scholars carry out extensive studies to this, adopt the sextuple power and the torque sensor of Stewart structure like people such as foreign scholar Kerr and Nguyen.Domestic also have some relevant patented technologies, as: a kind of sextuple power with elastic hinge and torque sensor (Chinese patent: CN1229915), parallel decoupling structure six-dimensional force and torque sensor (Chinese patent: CN1267822), direct imported robot four dimensional power and torque sensor (Chinese patent: CN1425903), six degree of freedom power and torque sensor (Chinese patent: CN2165435).Above-mentioned technology is most to adopt detection power and moments, so has structurally adopted the core technology of jiggle robot, does not have the function that detects big straight-line displacement and angle displacement.Domestic correlative study to sextuple computer entry device is then less relatively; And the existing sextuple computer entry device part that all comes with some shortcomings; Like the sextuple mouse of fine motion is through force sensitive element; Firmly/moment controls the speed of sextuple motion, exists to lack the operation sense of reality, is difficult to realize shortcomings such as High Accuracy Control.Professor Qin Kaihuai has designed and Implemented the three-dimensional USB mouse of five degree of freedom, and this mouse increases by 2 degree of freedom on conventional two-dimensional mouse basis, and is distributed in the mouse both sides with the form of roller, has realized the rotation around X axle and Y axle respectively.But shortcoming is to realize sextuple motion, and spin is subject to the surface of contact influence when rolling, and needs often clean spin.
Summary of the invention
The technical matters that solves
For solving the problem that prior art exists, the present invention proposes a kind of six-dimensional space computer entry device, have the operation sense of reality, can realize High Accuracy Control, the operator can be had in grand moving scope more really move/rotate sensation.
Technical scheme
Technical scheme of the present invention is:
Said a kind of six-dimensional space computer entry device is characterized in that: comprise that framework props up seat mechanism, platform rail mechanism and handle;
Platform rail mechanism comprises a moving platform and six roots of sensation motion guide rail;
Moving platform is a cube structure; The rectangular coordinate system in space initial point of said six-dimensional space computer entry device is in the geometric center of moving platform, and the Z axle is perpendicular to the moving platform end face, and X axle and Y axle are respectively perpendicular to two adjacent sides of moving platform; End face center at moving platform has the handle mounting hole, handle mounting hole central axis and Z axle conllinear; On the bottom surface of moving platform, have two Z to the guide rail mounting hole, plane and rectangular coordinate system in space XZ planes that two Z constitute to the central axis of guide rail mounting hole, and two Z to the central axis of guide rail mounting hole with respect to the YZ plane symmetry; On side vertical on the moving platform, have two X to the guide rail mounting hole with the X axle, plane and XY planes that two X constitute to the central axis of guide rail mounting hole, and two X to the central axis of guide rail mounting hole with respect to the XZ plane symmetry; On side vertical on the moving platform, have two Y to the guide rail mounting hole with the Y axle, plane and YZ planes that two Y constitute to the central axis of guide rail mounting hole, and two Y to the central axis of guide rail mounting hole with respect to the XY plane symmetry;
Six roots of sensation motion guide rail be divided into two X to motion guide rail, two Y to motion guide rail, two Z to motion guide rail; Every motion guide rail comprises front rod, back link, preceding bulb hinge, back bulb hinge and back-up ring; Shield ring sleeve and is fixed with front rod on front rod; The bulb hinge comprises bulb free bearing and bulb toggle, and bulb free bearing one end is a hollow stem, and the other end is a hollow ball shell, and bulb toggle one end is a cylindrical bar, and the other end is a bulb, and the bulb of bulb toggle cooperates with the hollow ball shell of bulb free bearing; Insert respectively in the hollow stem of preceding bulb free bearing and back bulb free bearing at the back link two ends, and be interference fit; There is counterbore the front rod rear end, and the cylindrical bar of preceding bulb toggle inserts in the counterbore of front rod rear end, and is interference fit; The cylindrical bar of back bulb toggle inserts in the guide rail mounting hole on the moving platform, and is interference fit;
Framework is propped up seat mechanism and is comprised directions X support, Y direction support, Z direction support and moving platform support spring, all is fixed with the guide rail installing plate on each direction support, and the moving platform support spring is fixedly mounted on Z direction support and the Y direction support; Each guide rail installing plate comprises base plate, at least two bearings and four limit switches; Have groove on the base plate, bearing cooperates with groove through bolt and is installed on the base plate, and bearing can slide along groove; Have the guide rail through hole on the bearing, the axis of guide rail through hole is parallel to each other, and all is parallel to the glide direction of bearing; On bearing, also be fixed with displacement transducer, be used to measure the slide displacement of bearing along groove; Symmetry respectively is fixed with two limit switches on the bottom edge of bearing glide direction both sides;
The base plate of directions X support upper rail installing plate is parallel to the XY face, and bearing upper rail through-bore axis is parallel to the X axle; The base plate of Y direction support upper rail installing plate is parallel to the YZ face, and bearing upper rail through-bore axis is parallel to the Y axle; The base plate of Z direction support upper rail installing plate is parallel to the XZ face, and bearing upper rail through-bore axis is parallel to the Z axle;
The supporting of moving platform bottom surface is fixed on the moving platform support spring; The front rod of all directions motion guide rail all passes the guide rail through hole of the bearing of direction support upper rail installing plate separately, and is interference fit; When moving platform was in the neutral position, the back-up ring of all directions motion guide rail was in separately between two limit switches of direction support upper rail installing plate homonymy; The handle screw thread is fixedly connected in the handle mounting hole at moving platform end face center.
Beneficial effect
The six-dimensional space computer entry device that the present invention proposes belongs to computer man-machine interfacing equipment and multifreedom motion control input equipment; Adopt displacement sensing to realize being moved and three directions rotations by operand three directions in three dimensions; To satisfy the comprehensive of three-dimensional modeling entity even whole virtual scene browsed and other operations; Have the operation sense of reality, can realize High Accuracy Control, the operator can be had in grand moving scope more really move/rotate sensation.
Description of drawings
Fig. 1: structural representation of the present invention;
Fig. 2: framework is propped up the structural representation of seat mechanism;
Fig. 3: the structural representation of platform rail mechanism;
Fig. 4: bulb toggle synoptic diagram;
Wherein: 1, framework is propped up seat mechanism; 2, platform rail mechanism; 3, handle; 4, directions X support; 5, compressing tablet; 6, switch frame; 7, limit switch; 8, photoelectric displacement sensor; 9, base plate; 10, bearing; 11, spring installing plate; 12, spring lower support; 13, upper bracket of the spring; 14, moving platform support spring; 15, Y direction support; 16, Z direction support; 17, an X is to motion guide rail; 18, the 2nd X is to motion guide rail; 19, back-up ring; 20, preceding bulb toggle; 21, preceding bulb free bearing; 22, back link; 23, back bulb free bearing; 24, back bulb toggle; 25, moving platform; 26, a Y is to motion guide rail; 27, the 2nd Y is to motion guide rail; 28, a Z is to motion guide rail; 29, the 2nd Z is to motion guide rail.
Embodiment
Below in conjunction with specific embodiment the present invention is described:
The present embodiment purpose is will develop to have the operation sense of reality, can realize the sextuple computer entry device of High Accuracy Control, makes the operator can in grand moving scope, have more really and moves/rotate sensation.
With reference to accompanying drawing 1, present embodiment comprises that framework props up seat mechanism 1, platform rail mechanism 2 and handle 3.
With reference to accompanying drawing 3, platform rail mechanism comprises a moving platform 25 and six roots of sensation motion guide rail.
Moving platform 25 is a cube structure, and the rectangular coordinate system in space initial point of the sextuple computer entry device in space is in the geometric center of moving platform in the present embodiment, and the Z axle is perpendicular to the moving platform end face, and X axle and Y axle are respectively perpendicular to two adjacent sides of moving platform.End face center at moving platform has the handle mounting hole, handle mounting hole central axis and Z axle conllinear.On the bottom surface of moving platform, have two Z to the guide rail mounting hole, plane and rectangular coordinate system in space XZ planes that two Z constitute to the central axis of guide rail mounting hole, and two Z to the central axis of guide rail mounting hole with respect to the YZ plane symmetry; On side vertical on the moving platform, have two X to the guide rail mounting hole with the X axle, plane and XY planes that two X constitute to the central axis of guide rail mounting hole, and two X to the central axis of guide rail mounting hole with respect to the XZ plane symmetry; On side vertical on the moving platform, have two Y to the guide rail mounting hole with the Y axle, plane and YZ planes that two Y constitute to the central axis of guide rail mounting hole, and two Y to the central axis of guide rail mounting hole with respect to the XY plane symmetry.
Six roots of sensation motion guide rail be divided into two X to motion guide rail, two Y to motion guide rail, two Z to motion guide rail.Every motion guide rail comprises front rod, back link 22, preceding bulb hinge, back bulb hinge and back-up ring 19; Shield ring sleeve is on front rod, and the employing bolt is fixedly connected with front rod; The bulb hinge comprises bulb free bearing and bulb toggle, and bulb free bearing one end is a hollow stem, and the other end is a hollow ball shell, and bulb toggle one end is a cylindrical bar, and the other end is a bulb, and the bulb of bulb toggle cooperates with the hollow ball shell of bulb free bearing; Insert respectively in the hollow stem of preceding bulb free bearing 21 and back bulb free bearing 23 at the back link two ends, and be interference fit; There is counterbore the front rod rear end, and the cylindrical bar of preceding bulb toggle 20 inserts in the counterbore of front rod rear end, and is interference fit; The cylindrical bar of back bulb toggle 24 inserts in the guide rail mounting hole on the moving platform, and is interference fit.Insert on the moving platform in six guide rail mounting holes thereby six roots of sensation motion guide rail is corresponding.
With reference to accompanying drawing 2, framework is propped up seat mechanism and is comprised directions X support 4, Y direction support 15, Z direction support 16 and moving platform support spring 14.The moving platform support spring is fixed on spring installing plate 11 through spring lower support, and the spring installing plate is fixedly mounted on Z direction support and the Y direction support, and moving platform support spring upper end is connected with moving platform through upper bracket of the spring 13.Adopt six roots of sensation moving platform support spring in the present embodiment.
All be fixed with the guide rail installing plate on each direction support, each guide rail installing plate is fixedly connected with direction support separately through pressing plate.Each guide rail installing plate comprises base plate 9, four bearings 10 and four limit switches 7.Have groove on the base plate, bearing cooperates with groove through bolt and is installed on the base plate, and bearing can slide along groove.Have the guide rail through hole on the bearing, the axis of guide rail through hole is parallel to each other, and all is parallel to the glide direction of bearing.Four bearings are divided into two groups, the guide rail through-bore axis conllinear of every group of two bearings, and on every group of bearing, be fixed with a photoelectric displacement sensor 8, be used to measure the slide displacement of bearing along groove.Symmetry respectively is fixed with two limit switches on the bottom edge of bearing glide direction both sides, and limit switch is fixedly connected through switch frame 6 with base plate.Limit switch is a touch switch in the present embodiment.
The base plate of directions X support upper rail installing plate is parallel to the XY face, and bearing upper rail through-bore axis is parallel to the X axle; The base plate of Y direction support upper rail installing plate is parallel to the YZ face, and bearing upper rail through-bore axis is parallel to the Y axle; The base plate of Z direction support upper rail installing plate is parallel to the XZ face, and bearing upper rail through-bore axis is parallel to the Z axle.
The front rod of all directions motion guide rail all passes the guide rail through hole of the bearing of direction support upper rail installing plate separately, and is interference fit; When moving platform was in the neutral position, the back-up ring of all directions motion guide rail was in separately between two limit switches of direction support upper rail installing plate homonymy; The handle screw thread is fixedly connected in the handle mounting hole at moving platform end face center.
During the work of this device, when doing the space six-freedom motion through handle control moving platform, the photoelectric displacement sensor on each motion guide rail can be gathered corresponding signal, after single-chip microcomputer is handled, signal is imported computing machine through the usb communication circuit.
When control crank moves and when X, Y, Z axle rotated, moving platform can change the position and the attitude in the space of self along with moving of control crank along X, Y, Z axle in the space.The change in location of moving platform drives the change in location of bulb toggle, bulb free bearing, front rod and back link, and guide rail drives back-up ring and bearing slides in the groove of base plate.At this moment be installed in the displacement that photoelectric displacement sensor on the bearing can detect 6 motion guide rails, and be transferred to computing machine through data line.If the displacement of guide rail is excessive, surpassed limited range, back-up ring will touch limit switch, produces signal, is transferred to computing machine, stops action through the processing of computing machine.
In the present embodiment, the outer normal direction of regulation moving platform two adjacent side and end face is respectively the coordinate axis forward of X, Y, Z axle, looks when changeing counterclockwise for just, clockwise for bearing from the coordinate axis forward.The detected X of photoelectric displacement sensor is respectively L1, L2, L3, L4, L5, L6 to motion guide rail, the 2nd Z to the displacement of motion guide rail to motion guide rail, a Z to motion guide rail, the 2nd Y to motion guide rail, a Y to motion guide rail, the 2nd X.These displacements of measuring have positive and negative: if identical with change in coordinate axis direction for just, opposite to change in coordinate axis direction bearing.If moving platform only moves along the X axle, then moving platform is Lx=L1=L2 at the displacement of X axle, if moving platform is only moving along y-axis shift, then moving platform is Ly=L3=L4 at the displacement of Y axle, if moving platform only moves along the Z axle, then moving platform is Lz=L5=L6 at the displacement of Z axle.
The angle that moving platform turns over has positive and negative: look when changeing counterclockwise for just, clockwise for bearing from the coordinate axis forward.Suppose that moving platform only rotates around the Z axle, and the angle of rotating is γ.Kinematics analysis and geometric relationship according to connecting rod; The one X has uncertainty to motion guide rail, the 2nd Y to the displacement of motion guide rail to motion guide rail, a Y to motion guide rail, the 2nd X; And a Z can have following expression formula to calculate to motion guide rail, the 2nd Z to the displacement of motion guide rail:
wherein m represent the centre distance of isoplanar bulb hinge; N representes the centre distance of the two bulbs hinge that connecting rod connects; Be the length of connecting rod; γ representes the angle that moving platform turns over around the Z axle, L represent a Z to motion guide rail, the 2nd Z to motion guide rail at the moving platform absolute value of displacement when the Z axle rotates only.By following formula L=|L5|=|L6|, detect the value of L5 and L6 through photoelectric displacement sensor, with the value substitution L computing formula of L, can calculate the angle γ of rotation.Rotation around other is identical therewith, if moving platform only rotates around the X axle, the angle of rotation is α, L represent an X to motion guide rail, the 2nd X to motion guide rail at the moving platform only absolute value of displacement, i.e. L=|L1=|L2| when the X axle rotates.In the substitution computing formula
, can obtain the angle [alpha] of rotation.If moving platform only rotates around the Y axle, the angle of rotation is β, L represent a Y to motion guide rail, the 2nd Y to motion guide rail at the moving platform only absolute value of displacement, i.e. L=|L3|=|L4| when the Y axle rotates.In the substitution computing formula
, can obtain the angle beta of rotation.
Through aforementioned calculation, can obtain three axial displacements of moving platform through the displacement that six photoelectric displacement sensors record and around the angle of three axial rotation, can unique definite moving platform in the position and the attitude in space.Initial position with moving platform is the initial point of three-dimensional system of coordinate, and then the post exercise three-dimensional coordinate position is that (Lz), the angle of rotating around x, Y, Z coordinate axis is respectively α, β, γ for Lx, Ly.When moving platform moves, can be through measuring the information that obtains its six degree of freedom in real time.Pass in the computing machine implementation space six degree of freedom input that can be real-time dexterously through telecommunication circuit.When moving platform is realized an operational motion; Need to accomplish successively along X, Y, Z axle move and along six actions such as rotation of X, Y, Z axle; Action of every completion, displacement transducer can collect corresponding displacement information, pass in the computing machine through telecommunication circuit; Handle through computer data, be converted into the displacement or the rotational angle that need.Through six signal inputs, can collect the information of six degree of freedom.If the operational motion of moving platform does not need some action in six actions, then need not accomplish the realization of these actions, sensor does not have signal yet and produces, and does not have input signal, and computing machine will be defaulted as initial value.
Computing machine can through OpenGL and Visual C++ software combine and the combination of OpenGL and SolidWorks software realizes virtual environment; And through the next real-time information of importing into of handling of VC++ programming, and then the control virtual objects is done the space six-freedom motion.
Claims (1)
1. six-dimensional space computer entry device is characterized in that: comprise that framework props up seat mechanism, platform rail mechanism and handle;
Platform rail mechanism comprises a moving platform and six roots of sensation motion guide rail;
Moving platform is a cube structure; The rectangular coordinate system in space initial point of said six-dimensional space computer entry device is in the geometric center of moving platform, and the Z axle is perpendicular to the moving platform end face, and X axle and Y axle are respectively perpendicular to two adjacent sides of moving platform; End face center at moving platform has the handle mounting hole, handle mounting hole central axis and Z axle conllinear; On the bottom surface of moving platform, have two Z to the guide rail mounting hole, plane and rectangular coordinate system in space XZ planes that two Z constitute to the central axis of guide rail mounting hole, and two Z to the central axis of guide rail mounting hole with respect to the YZ plane symmetry; On side vertical on the moving platform, have two X to the guide rail mounting hole with the X axle, plane and XY planes that two X constitute to the central axis of guide rail mounting hole, and two X to the central axis of guide rail mounting hole with respect to the XZ plane symmetry; On side vertical on the moving platform, have two Y to the guide rail mounting hole with the Y axle, plane and YZ planes that two Y constitute to the central axis of guide rail mounting hole, and two Y to the central axis of guide rail mounting hole with respect to the XY plane symmetry;
Six roots of sensation motion guide rail be divided into two X to motion guide rail, two Y to motion guide rail, two Z to motion guide rail; Every motion guide rail comprises front rod, back link, preceding bulb hinge, back bulb hinge and back-up ring; Shield ring sleeve and is fixed with front rod on front rod; The bulb hinge comprises bulb free bearing and bulb toggle, and bulb free bearing one end is a hollow stem, and the other end is a hollow ball shell, and bulb toggle one end is a cylindrical bar, and the other end is a bulb, and the bulb of bulb toggle cooperates with the hollow ball shell of bulb free bearing; Insert respectively in the hollow stem of preceding bulb free bearing and back bulb free bearing at the back link two ends, and be interference fit; There is counterbore the front rod rear end, and the cylindrical bar of preceding bulb toggle inserts in the counterbore of front rod rear end, and is interference fit; The cylindrical bar of back bulb toggle inserts in the guide rail mounting hole on the moving platform, and is interference fit;
Framework is propped up seat mechanism and is comprised directions X support, Y direction support, Z direction support and moving platform support spring, all is fixed with the guide rail installing plate on each direction support, and the moving platform support spring is fixedly mounted on Z direction support and the Y direction support; Each guide rail installing plate comprises base plate, at least two bearings and four limit switches; Have groove on the base plate, bearing cooperates with groove through bolt and is installed on the base plate, and bearing can slide along groove; Have the guide rail through hole on the bearing, the axis of guide rail through hole is parallel to each other, and all is parallel to the glide direction of bearing; On bearing, also be fixed with displacement transducer, be used to measure the slide displacement of bearing along groove; Symmetry respectively is fixed with two limit switches on the bottom edge of bearing glide direction both sides;
The base plate of directions X support upper rail installing plate is parallel to the XY face, and bearing upper rail through-bore axis is parallel to the X axle; The base plate of Y direction support upper rail installing plate is parallel to the YZ face, and bearing upper rail through-bore axis is parallel to the Y axle; The base plate of Z direction support upper rail installing plate is parallel to the XZ face, and bearing upper rail through-bore axis is parallel to the Z axle;
The supporting of moving platform bottom surface is fixed on the moving platform support spring; The front rod of all directions motion guide rail all passes the guide rail through hole of the bearing of direction support upper rail installing plate separately, and is interference fit; When moving platform was in the neutral position, the back-up ring of all directions motion guide rail was in separately between two limit switches of direction support upper rail installing plate homonymy; The handle screw thread is fixedly connected in the handle mounting hole at moving platform end face center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210194295.1A CN102759995B (en) | 2012-06-13 | 2012-06-13 | Spatial six-dimensional computer input device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210194295.1A CN102759995B (en) | 2012-06-13 | 2012-06-13 | Spatial six-dimensional computer input device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102759995A true CN102759995A (en) | 2012-10-31 |
| CN102759995B CN102759995B (en) | 2015-06-24 |
Family
ID=47054468
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210194295.1A Expired - Fee Related CN102759995B (en) | 2012-06-13 | 2012-06-13 | Spatial six-dimensional computer input device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102759995B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109765842A (en) * | 2019-01-17 | 2019-05-17 | 湖北工程学院 | A kind of micro-positioning table |
| CN110043560A (en) * | 2019-03-25 | 2019-07-23 | 南京捷诺环境技术有限公司 | 3 d-line rolling guide |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5271290A (en) * | 1991-10-29 | 1993-12-21 | United Kingdom Atomic Energy Authority | Actuator assembly |
| US5335557A (en) * | 1991-11-26 | 1994-08-09 | Taizo Yasutake | Touch sensitive input control device |
| US20060255795A1 (en) * | 2005-05-13 | 2006-11-16 | Higgins Robert F | Six-degree-of-freedom, integrated-coil AC magnetic tracker |
| CN101003133A (en) * | 2007-01-22 | 2007-07-25 | 北京航空航天大学 | Force sense man-machine interaction device with six degrees of freedom |
| CN101034022A (en) * | 2007-04-17 | 2007-09-12 | 燕山大学 | Six dimensional RSS force sensor |
| CN101387907A (en) * | 2008-10-30 | 2009-03-18 | 哈尔滨工业大学 | Six freedom degree two-in-parallel haptic interface device based on flexible drive |
| CN101439514A (en) * | 2008-12-25 | 2009-05-27 | 上海交通大学 | Sliding block type structure decoupling six-dimension force feedback device |
| CN101488371A (en) * | 2009-03-04 | 2009-07-22 | 上海微电子装备有限公司 | Precise positioning platform with six freedom of motion |
| CN202615340U (en) * | 2012-06-13 | 2012-12-19 | 西北工业大学 | Spatial six-dimensional computer inputting device |
-
2012
- 2012-06-13 CN CN201210194295.1A patent/CN102759995B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5271290A (en) * | 1991-10-29 | 1993-12-21 | United Kingdom Atomic Energy Authority | Actuator assembly |
| US5335557A (en) * | 1991-11-26 | 1994-08-09 | Taizo Yasutake | Touch sensitive input control device |
| US20060255795A1 (en) * | 2005-05-13 | 2006-11-16 | Higgins Robert F | Six-degree-of-freedom, integrated-coil AC magnetic tracker |
| CN101003133A (en) * | 2007-01-22 | 2007-07-25 | 北京航空航天大学 | Force sense man-machine interaction device with six degrees of freedom |
| CN101034022A (en) * | 2007-04-17 | 2007-09-12 | 燕山大学 | Six dimensional RSS force sensor |
| CN101387907A (en) * | 2008-10-30 | 2009-03-18 | 哈尔滨工业大学 | Six freedom degree two-in-parallel haptic interface device based on flexible drive |
| CN101439514A (en) * | 2008-12-25 | 2009-05-27 | 上海交通大学 | Sliding block type structure decoupling six-dimension force feedback device |
| CN101488371A (en) * | 2009-03-04 | 2009-07-22 | 上海微电子装备有限公司 | Precise positioning platform with six freedom of motion |
| CN202615340U (en) * | 2012-06-13 | 2012-12-19 | 西北工业大学 | Spatial six-dimensional computer inputting device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109765842A (en) * | 2019-01-17 | 2019-05-17 | 湖北工程学院 | A kind of micro-positioning table |
| CN110043560A (en) * | 2019-03-25 | 2019-07-23 | 南京捷诺环境技术有限公司 | 3 d-line rolling guide |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102759995B (en) | 2015-06-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108731849B (en) | Six-degree-of-freedom touch sensor and decoupling design method thereof | |
| CN101943946B (en) | Two-dimensional image force touch reproducing control method and system based on three-dimensional force sensor | |
| CN101206536B (en) | Inertia sensing six axial direction input device and usage method thereof | |
| CN201464201U (en) | Three-dimensional microgravity intelligent air foot | |
| CN102033627B (en) | A kind of mouse and method | |
| CN103954860A (en) | Tool used for testing function and performance of touch control equipment | |
| CN101575013A (en) | Intelligent three dimensional microgravity air feet | |
| CN100513062C (en) | Parallel mechanism with four degrees of freedom | |
| CN102759995B (en) | Spatial six-dimensional computer input device | |
| CN103234440A (en) | Three-dimensional measuring head | |
| CN202615340U (en) | Spatial six-dimensional computer inputting device | |
| CN104008052A (en) | Universal computer product testing system and method | |
| CN105892687A (en) | Novel single-freedom-degree force feedback handle device and working method thereof | |
| CN201508508U (en) | Handheld equipment with double-track ball | |
| CN112711332B (en) | Human body motion capture method based on attitude coordinates | |
| CN104454963B (en) | Ball hinge capable of measuring spatial revolution angle and offset in three degrees of freedom | |
| CN205608742U (en) | Virtual design of clothing is with static three -dimensional human parameter acquisition platform | |
| CN104535492A (en) | Garment material surface physical characteristic detecting robot and intelligent detection method thereof | |
| CN107336233A (en) | Based on the dynamic robot people's actual situation intersection control routine caught of inertia | |
| CN103853095A (en) | Intelligent terminal comprehensive test robot | |
| CN104656941A (en) | Electronic input device | |
| CN204327745U (en) | The spherical hinge of measurable space Three Degree Of Freedom angle of revolution and side-play amount | |
| CN216098969U (en) | Human upper limb skill action sensing device | |
| CN202599340U (en) | Measuring apparatus for scanning type measuring head | |
| CN202854724U (en) | Computer three-dimensional information input device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180928 Address after: 523808 Zhongsheng silver building, No. three road, Songshan Lake headquarters, Dongguan, Guangdong, 20 Patentee after: Dongguan Sanhang civil Military Integration Innovation Institute Address before: 710072 No. 127 Youyi West Road, Shaanxi, Xi'an Patentee before: Northwestern Polytechnical University |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150624 Termination date: 20180613 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |