Design and modeling of a novel 6 degree of freedom haptic device

Author

Tang, Zhouming ; Payandeh, Shahram

Author_Institution

Exp. Robot. Lab., Simon Fraser Univ., Fraser, MI

fYear

2009

fDate

18-20 March 2009

Firstpage

523

Lastpage

528

Abstract

This paper presents a new design of haptic device which combines the spherical parallel structure with the serial link configuration. The spherical configuration offers 3DOF for the positioning its platform where a 3DOF serial link is connected. The moving platform is connected to the ground through a passive and active spherical joint configuration. As such, the passive joint can contribute in supporting the static weight and the user interaction forces. Comparisons with the existing designs of the haptic device are made in order to highlight the novelties of the design. Kinematic models of the proposed design are presented. The formulation resulted in novel extensions of the forward kinematics solutions and the novel inverse kinematic modeling and solution of the proposed class of parallel/serial robot configuration is addressed.

Keywords

haptic interfaces; 3DOF serial link; 6 degree of freedom haptic device; active spherical joint configuration; kinematic models; moving platform; passive spherical joint configuration; serial link configuration; spherical parallel structure; static weight; user interaction forces; Force feedback; Force measurement; Haptic interfaces; Inverse problems; Kinematics; Manipulators; Manufacturing; Parallel robots; Robot sensing systems; Surgery; haptic device; inverse kinematic solutions; kinematic modeling; serial configuration; spherical parallel configuration;

fLanguage

English

Publisher

ieee

Conference_Titel

EuroHaptics conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint

Conference_Location

Salt Lake City, UT

Print_ISBN

978-1-4244-3858-7

Type

conf

DOI

10.1109/WHC.2009.4810891

Filename

4810891