Design of a new parallel haptic device for desktop applications

F. Gosselin, J. Martins, C. Bidard, C. Andriot, J. Brisset
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引用次数: 27

Abstract

In this paper, we present a new six degrees of freedom haptic device developed at CEA-LIST for desktop applications emphasizing quick and precise manipulation. This device relies on a light parallel architecture connecting the base of the robot to the mobile platform manipulated by the user. It is dimensioned and optimized to fit design requirements associated with computer aided design or virtual sculpting. The design methodology relies on a geometric and static optimization which takes into account technological constraints associated with the main off the shelf components. The control scheme of this device is also described. Finally, feedback obtained from first integration tests are presented.
一种新型桌面并行触觉装置的设计
在本文中,我们提出了一个新的六自由度的触觉装置开发的桌面应用强调快速和精确的操作。该装置依赖于将机器人基座连接到用户操纵的移动平台的轻型并行架构。它的尺寸和优化,以适应与计算机辅助设计或虚拟雕刻相关的设计要求。设计方法依赖于几何和静态优化,考虑到与主要现成组件相关的技术限制。并介绍了该装置的控制方案。最后,给出了首次集成测试的反馈。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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