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A design approach for a new 6-DoF haptic device based on parallel kinematics

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3 Author(s)
Suleman, K. ; Machine Design Dept, R. Inst. of Technol., Stockholm ; Andersson, K. ; Wikander, J.

This paper presents an approach to a methodology for design, analysis and optimization of haptic devices. This approach roughly divides the design process into; device requirements, conceptual design, device design, control design and finally building a prototype of the device. In addition, we have applied the first two phases of this methodology, i.e. device requirements and conceptual design on the development of a new 6-DoF haptic device. The intended application area for this device is medical simulations and this research is one important component towards achieving manipulation capabilities and force/torque feedback in six degrees of freedom during medical simulations. Three candidate concepts, all based on parallel kinematic structures, have been investigated and analyzed. The performance parameters being analyzed have covered workspace analysis and force/torque requirements to fulfill the specified TCP force performance. The initial analysis of these three concepts has shown, after a smaller modification of one of the concepts that all concepts seem to satisfy the initially stated requirements.

Published in:

Mechatronics, 2009. ICM 2009. IEEE International Conference on

Date of Conference:

14-17 April 2009