A Six Degree-of-Freedom Haptic Device Based on the Orthoglide and a Hybrid Agile Eye

Chablat, Damien; Wenger, Philippe

doi:10.1115/detc2006-99065

Cited by 12 publications

(4 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Our choice of the optimization formulation for the ZTWs as above (O1 and O2) is, first of all, motivated by our attempt to developing parallel wrists with large tilt motion range, which find their applications in sensor mount, 10 haptic device, 36 and rotary table for five-axis machining 37 where a ±90 • tilt motion range is desired. The particular choice of singularity closeness index in Eqs.…”

Section: Discussion On Alternative Optimal Design Formulationmentioning

confidence: 99%

Workspace optimization of a class of zero-torsion parallel wrists

Carricato

2018

Robotica

View full text Add to dashboard Cite

SUMMARYWe present singularity-free workspace optimization of a class of two-degree-of-freedom (2-DoF) parallel wrists with large rotation range capability. The wrists in consideration are kinematically equivalent to two families of 2-DoF homokinetic couplings. The first family comprises fully parallel wrists with N (N ≥ 3) double-universal ($\mathcal{UU}$) legs. The second family comprises spherical N-$\mathcal{UU}$ parallel wrists with interconnecting revolute ($\mathcal{R}$) joints. Both families belong to the more general class of zero-torsion parallel manipulators, and are, therefore, collectively referred to as zero-torsion wrists (ZTWs). We carry out a unified singularity-free workspace optimization by utilizing geometric properties of zero-torsion motion manifolds. Our work may serve as a conceptual guide to the design of ZTWs for large tilt-angle applications.

show abstract

Section: Discussion On Alternative Optimal Design Formulationmentioning

confidence: 99%

Workspace optimization of a class of zero-torsion parallel wrists

Carricato

2018

Robotica

View full text Add to dashboard Cite

show abstract

“…Combining serial and parallel mechanisms generates a hybrid kinematic device [109][110][111]. From the fixed base to the end-effector of a hybrid device, the parallel mechanism is connected to the base while the serial mechanism links the parallel mechanism to the end-effector of the device.…”

Section: Haptic Interfaces With Hybrid Mechanismmentioning

confidence: 99%

Kinematic design of linkage-based haptic interfaces for medical applications: a review

et al. 2021

View full text Add to dashboard Cite

A haptic interface recreates haptic feedback from virtual environments or haptic teleoperation systems that engages the user’s sense of touch. High-fidelity haptic feedback is critical to the safety and success of any interaction with human beings. Such interactions can be seen in haptic systems utilized in medical fields, such as for surgical training, robotic tele-surgery, and tele-rehabilitation, which require appropriate haptic interface design and control. In order to recreate high-fidelity soft and stiff contact experiences for the user in the intended application, different designs strike different trade-offs between the desirable characteristics of an interface, such as back-drivability, low apparent inertia and low friction for the best perception of small reflected forces, large intrinsic stiffness and force feedback capability for the best perception of large reflected forces, a large-enough workspace for exploring the remote or virtual environment, and the uniformity of haptic feedback and its adequate sensitivity over the workspace. Meeting all of the requirements simultaneously is impossible, and different application-driven compromises need to be made. This paper reviews how various kinematic designs have helped address these trade-offs in desired specifications. First, we investigate the required characteristics of linkage-based haptic interfaces and inevitable trade-offs between them. Then, we study the state of the art in the kinematic design of haptic interfaces and their advantages and limitations. In all sections, we consider the applications of the intended haptic interfaces in medical scenarios. Non-linkage-based haptic interfaces are also shortly discussed to show the broad range of haptic technologies in the area. The potentials of kinematic redundancy to address the design trade-offs are introduced. Current challenges and future directions of haptic interface designs for medical applications are shortly discussed, which is finally followed by the conclusion.

show abstract

“…Bonev et al (year) provided that the four assembly modes, which correspond to the direct kinematics of the agile eye, exhibit a straightforward and direct correlation with the eight working modes, representing the solutions to the inverse kinematics [12]. Chablat and Wenger conducted an optimization study on two parallel mechanisms to enhance their stiffness and reduce the number of moving components [15]. Kuo and Legnani found the solutions of the direct and inverse kinematics of the parallel orientation mechanism with three degrees of freedom.…”

Section: Introductionmentioning

confidence: 99%

Design, Analysis, and Implementation of a 3-DOF Spherical Parallel Manipulator

Djennane,

Chehaidia,

Yakoub

et al. 2024

IEEE Access

View full text Add to dashboard Cite

The agile eye is classified as a 3-degrees of freedom (DOF) type 3-RRR spherical parallel mechanism (SPM) designed to replicate the movement patterns seen in the human eye. The end organ exhibits a range of motion inside a cone of vision spanning 140°, with a twist tolerance of ±30°.Additionally, the mechanism can achieve angular velocities exceeding 1000 °/s and angular accelerations surpassing 20 °/s 2 . The objective of this research is to conduct a comprehensive examination of the direct and inverse kinematics of the spatial parallel manipulator (SPM) on a manipulator. The purpose of doing a kinematic analysis on the manipulator is to enhance the design optimization process, accurately determine the dimensions of all components, and improve the functionality of the computer-aided design (CAD) system. This study aims to ensure the efficient operation of the SPM and maximize its available workspace. Additionally, this study enables the achievement of a high level of stiffness inside the workspace and the establishment of clearly comprehensible limits for the workspace. Moreover, it facilitates the precise control of the SPM. An evaluation is conducted to assess the efficacy of the existing technique by comparing its outputs with those obtained from a virtual reality simulation using the commercially available software CopeliaSim. The control mechanism described in the present paper demonstrates a surplus in the resolution of precision problems while ensuring competitiveness at a controlled cost. The implementation of the robot revealed the effectiveness of the design approach adopted by recording an error of no more than 1%. INDEX TERMSMechatronics; Precision engineering; Spherical parallel manipulator; Euler angles; Optimization; Implementation. NOMENCLATURE Ui Unit vectors directed along the axes of the actuators Ai K Dexterity γ Angle between the actuators axes Ai. ‖.‖ Euclidean norm of the matrix Vi Unit vectors directed along the axes of the pivot joints connected to the end effectors Bi. ζ Reciprocal number Wi Unit vectors directed along the axes of the intermediate pivot joints Ci. η Global index for the optimization of robot α1 Angle between Ai and Ci. W Working space of the α2 Angle between Ci and Bi. kappamin Minimum dexterity β Angle between the normal of the base and the actuators axes Ai. Vi Initial state vector of the manipulator θ Angle of rotation motor. R Rotation matrix J Jacobean matrices of the manipulator W1, W2, W3 Projections of Wi vectors in the fixed frame This article has been accepted for publication in IEEE Access.

show abstract

A Six Degree-of-Freedom Haptic Device Based on the Orthoglide and a Hybrid Agile Eye

Cited by 12 publications

References 23 publications

Workspace optimization of a class of zero-torsion parallel wrists

Workspace optimization of a class of zero-torsion parallel wrists

Kinematic design of linkage-based haptic interfaces for medical applications: a review

Design, Analysis, and Implementation of a 3-DOF Spherical Parallel Manipulator

Contact Info

Product

Resources

About