Analysis and Experimental Study of a 4-DOF Haptic Device

Ma, Siwei; Payandeh,

doi:10.5772/8687

Advances in Haptics 2010

DOI: 10.5772/8687

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Analysis and Experimental Study of a 4-DOF Haptic Device

Siwei Ma¹,

Payandeh Payandeh²

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

Tang

Payandeh

2009

World Haptics 2009 - Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoper

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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.

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

Tang

Payandeh

2009

World Haptics 2009 - Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoper

View full text Add to dashboard Cite

show abstract

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Analysis and Experimental Study of a 4-DOF Haptic Device

Cited by 1 publication

References 8 publications

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

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

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