Design and Kinematics Modeling of a Novel Haptic Device

Abstract

In recent years use of haptic devices in different fields and their application increased. Novel mechanical design for a 3DOF haptic device presented according to the problems. Design the novel 3DOF haptic device done according several purposes such as decrease the inertia, support different workspaces and transmission the motion by new approach. Common and commercial impedance haptic devices analyses from the viewpoint of workspace and price. Parallel and serial mechanism compared. The kinematics formulas of designed 3DOF haptic device calculated. In order to simulation and validation the formulas, two scenarios defined. Initial and final values of revolute joints define in scenarios. To perform the scenarios MATLAB and RoboAnalyze softwares used. The results confirm that formulas are accurate.