A Novel Planar 3-DOF Hard-Soft Haptic Teleoperator

Author

Christiansson, Göran A V ; Fritz, Erik C.

Author_Institution

Delft Haptics Lab., Delft Univ. of Technol.

fYear

2007

fDate

22-24 March 2007

Firstpage

361

Lastpage

366

Abstract

A novel planar 3-degree of freedom (DOF) haptic teleoperator based on the "hard-soft" principle is presented. The mechatronic concept of using a stiff master and a compliant slave has previously been shown to improve haptic teleoperation performance in 1-dof teleoperation, and the concept can now be experimentally verified for more realistic tasks. The master device consists of a stiff double-rhomb force-redundant parallel robot and the slave device is a serial robot with flexible joints. Identification experiments show that the teleoperation setup can achieve high stiffness (>1.5 N/mm)for the master side and low stiffness on the slave side (0.100 N/mm)

Keywords

mechatronics; robot dynamics; telerobotics; compliant slave; hard-soft principle; mechatronic concept; planar 3-DOF hard-soft haptic teleoperator; serial robot; stiff double-rhomb force-redundant parallel robot; stiff master; Assembly; Bandwidth; Costs; Frequency; Haptic interfaces; Humans; Master-slave; Mechatronics; Parallel robots; Teleoperators;

fLanguage

English

Publisher

ieee

Conference_Titel

EuroHaptics Conference, 2007 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2007. Second Joint

Conference_Location

Tsukaba

Print_ISBN

0-7695-2738-8

Type

conf

DOI

10.1109/WHC.2007.11

Filename

4145201