Six freedom degree force feedback hand controller

The invention discloses a six freedom degree force feedback hand controller. The six freedom degree force feedback hand controller is composed of a fixing base seat, linear motors, a moving platform, a force sensor, an operating handle, a connecting rod portion and a joint portion. The six freedom degree force feedback hand controller comprises six branch chains, wherein each branch chain comprises a linear displacement component, a two freedom degree universal joint, a three freedom degree spherical hinge and a connecting rod. Linear displacement is achieved through the linear motors, and due to the fact that the linear motors are used to drive the six freedom degree force feedback hand controller, the six freedom degree force feedback hand controller is high in accuracy and quick in response, and has no return stroke interval. The linear motors are fixed on the base seat, and the weight of moving parts is low. A certain opening angle is formed between each linear motor and the vertical direction, and theref