Design of a 3-DOF parallel translating manipulator with U-P-U joints kinematic chains

Leguay-Durand, Sylvie; Reboulet, C.

doi:10.1109/iros.1997.656577

Cited by 9 publications

(2 citation statements)

References 10 publications

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“…2. This design has been optimized to avoid the singular configuration inside the workspace by Leguay-Durand and Reboulet [3].…”

Section: Single Point Of Contactmentioning

confidence: 99%

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

Chablat¹,

Wenger²

2006

Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts a and B

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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.

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“…2. This design has been optimized to avoid the singular configuration inside the workspace by Leguay-Durand and Reboulet [3].…”

Section: Single Point Of Contactmentioning

confidence: 99%

“…The Phantom Desktop provides one single point of contact to the user The "syntaxeur" from ONERA/CERT[3] …”

mentioning

confidence: 99%