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Optimal kinematic design of a haptic pen

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3 Author(s)
L. J. Stocco ; Dept. of Electr. & Comput. Eng., British Columbia Univ., Vancouver, BC, Canada ; S. E. Salcudean ; F. Sassani

This paper investigates the performance demands of a haptic interface and shows how this information can be used to design a suitable mechanism. A design procedure, previously developed by the authors (1996), consisting of a global isotropy index and a discrete optimization algorithm, allows one to compare a range of geometric variables, actuator scale factors, and even different robot devices for optimum performance. The approach is used to compare the performance of three 6-DOF robots including two well-known parallel platform robots and a novel hybrid robot called the Twin-Pantograph in terms of their semi-dextrous workspaces and static force capabilities. Since the Twin-Pantograph yields the best results, its design is refined to address practical constraints and it is implemented as a haptic pen. The performance of the resulting design is analysed and presented

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:6 ,  Issue: 3 )