A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye

Details A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye

2007-07-24

arxiv.org/abs/0707.3550v1

Dans Proceedings of IDETC 2006: 30th Mechanisms & Robotics Conference (MR) - IDETC, Philadelphie : \'Etats-Unis d'Am\'erique (

Computer Science

Robotics

Scientific paper

This paper is devoted to the kinematic design of a new six degree-of-freedom haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second one, called agile eye, produces the rotational motions. These two motions are decoupled to simplify the direct and inverse kinematics, as it is needed for real-time control. To reduce the inertial load, the motors are fixed on the base and a transmission with two universal joints is used to transmit the rotational motions from the base to the end-effector. Two alternative wrists are proposed (i), the agile eye with three degrees of freedom or (ii) a hybrid wrist made by the assembly of a two-dof agile eye with a rotary motor. The last one is optimized to increase its stiffness and to decrease the number of moving parts.

Affiliated with

Also associated with

No associations

Rating

A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.

If you have personal experience with A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFWR-SCP-O-440373