Title :
A high performance 6-DOF haptic Cobot
Author :
Faulring, Eric L. ; Colgate, J. Edward ; Peshkin, Michael A.
Author_Institution :
Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
fDate :
April 26-May 1, 2004
Abstract :
A novel, six-degree-of-freedom active haptic device is introduced. A parallel kinematic design and the use of non-holonomic continuously variable transmissions provide extremely high stiffness in directions that would violate a virtual constraint. At the same time, smooth motion is permitted tangential to virtual constraints and in open space. High quality constraint surfaces having one to five dimensions can be displayed. A notable feature of this device is the mutual coupling of all six linear actuators to a common rotating cylinder, which can, optionally, be powered. The resulting mechanism is simple to control, and allows several new control strategies in Cobotic haptics.
Keywords :
actuators; control system CAD; haptic interfaces; manipulator kinematics; telerobotics; virtual reality; 6DOF haptic cobot; Cobotic haptics; control system CAD; high quality constraint surfaces; linear actuators; nonholonomic constraints; parallel kinematic design; six degree of freedom active haptic device; stiffness; virtual constraint; Automatic control; Haptic interfaces; Hydraulic actuators; Kinematics; Laboratories; Manipulators; Master-slave; Mechanical engineering; Mechanical power transmission; Mutual coupling;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1308114
