Top > IJAT > Redundant Parallel Mechanism for Haptic Applications

single-au.php

IJAT Vol.4 No.4 pp. 338-345
doi: 10.20965/ijat.2010.p0338
(2010)

Paper:

Views over last 60 days: 535

Redundant Parallel Mechanism for Haptic Applications

Jumpei Arata and Hideo Fujimoto

Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya 466-8555, Japan

Received:
February 15, 2010
Accepted:
June 1, 2010
Published:
July 5, 2010
Creative Commons License
Keywords:
parallel mechanism, haptic device, redundancy
Abstract
With haptic devices becoming increasingly common in both industrial field and consumer use, parallel mechanisms have been widely introduced for their high rigidity, output, accuracy and high backdrivability due to their multi-legged structure and fixed base actuators. In general parallel mechanism, redundancy enlarges the working area and avoids singularity. The redundant parallel mechanism we present introduces these advantages into haptic applications. Introducing this mechanism into a multiple degrees-of-freedom (DOF) structure realizes a wide range of working areas in rotation. The redundant parallel mechanism implemented in translational force display device, and multi-DOF force display device demonstrate the advantages of the redundant parallel mechanism in haptic applications. Following an overview, we introduce the prototype implementation and evaluation of these devices and discuss the effectiveness of the redundant parallel mechanism in haptic applications.
Cite this article as:
J. Arata and H. Fujimoto, “Redundant Parallel Mechanism for Haptic Applications,” Int. J. Automation Technol., Vol.4 No.4, pp. 338-345, 2010.
Data files:
References
  1. [1] SensAble Technologies,
    http://www.sensable.com/ ,
    2009.
  2. [2] MPB Technologies,
    http://www.mpb-technologies.ca/ ,
    2009.
  3. [3] Haption,
    http://www.haption.com/site/index.html ,
    2009.
  4. [4] Immersion,
    http://www.immersion.com/ ,
    2009.
  5. [5] R. Clavel, “Conception d’un robot parallèle rapide à 4 degrés de liberté,” Ph.D. Thesis, EPFL, Lausanne, 1991. No.925.
  6. [6] R. Clavel, “Une Nouvelle Structure de Manipulateur Paralléle pour la Robotique Légère,” APII, Vol.23, pp. 501-519, 1989.
  7. [7] Force Dimension,
    http://www.forcedimension.com/ ,
    2009.
  8. [8] Novint Technologies,
    http://home.novint.com/ ,
    2009.
  9. [9] HapticMaster,
    http://intron.kz.tsukuba.ac.jp/vrlab_web/hapticmaster/hapticmaster_e.html ,
    2009.
  10. [10] H. Iwata,“Pen-based Haptic Virtual Environment,” IEEE Virtual Reality Annual International Symposium, pp. 287-292, 1993.
  11. [11] Quanser,
    http://www.quanser.com/choice.asp ,
    2009.
  12. [12] H. Iwata,“Artificial Reality with Force-feedback: Development of Desktop Virtual Space with Compact Master Manipulator,” Computer Graphics, Vol.24, No.4, pp. 165-170, 1990.
  13. [13] T. Asano, H. Yano, and H. Iwata, “Basic Technology of Simulation System for Laparoscopic Surgery in Virtual Environment with Force Display,” Medicine Meets Virtual Reality, Global Healthcare Grid, Studies in Health Technology and Informatics, IOS Press, Vol.39, pp. 207-215, 1997.
  14. [14] L. Birglen,“SHaDe, A New 3-DOF Haptic Device,” IEEE Transactions on Robotics and Automation, Vol.18, No.2, pp. 166-175, April, 2002.
  15. [15] R. Clavel et al., “The PantoScope: A Spherical Remote-Center-of-Motion Parallel Manipulator for Force Reflection,” Proc. of IEEE Int. Conf. on Robotics and Automation 1997, pp. 718-723, New Mexico, 1997.
  16. [16] Mentice,
    http://www.mentice.com/ ,
    2009.
  17. [17] B. D. Adelstein, P. Ho, and H. Kazerooni, “Kinematic Design of a Three Degree of Freedom Parallel Hand Controller Mechanism,” ASME Dynamic System and Control Division, DSC-vol.58, pp. 539-546, 1996.
  18. [18] D. Chablet and P. Wenger, “A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye,” IDETC 2006, 30th Mechanism & Robotics Conference (MR), September 10-13, 2006, Philadelphia, USA.
  19. [19] CyVerse,
    http://www.cyverse.co.jp/ ,
    2009.
  20. [20] L. Buoguila, Y. Cai, and M. Sato, “New Haptic Device For Human Scale Virtual Environment Scalable-SPIDAR,” ICAT’97, pp. 93-98,1997.
  21. [21] Mimic Technologies,
    http://www.mimic.ws/ ,
    2009.
  22. [22] Moog FCS Robotics,
    http://www.moog.com/simulationandtesting/ ,
    2009.
  23. [23] M. Ueberle and M. Buss, “Design, control, and evaluation of a new 6 DOF haptic device,” Proc. of the Int. Conf. on Intelligent Robots and System, pp. 2949-2954:3, 2002.
  24. [24] M. Ueberle and N. Mock, “VISHARD10, a Novel Hyper-Redundant Haptic Interface,” Proc. of the 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 58-65, 2004.
  25. [25] Y. Tsumaki, H. Naruse, D. N. Nenchev, and M. Uchiyama, “Design of a Compact 6-DOF Haptic Interface,” Proc. of ICRA, pp. 2580-2585, 1998.
  26. [26] L. W. Tsai, “Multi-degree-of-freedom mechanisms for machine tools and like,” U.S. Patent, no.5656905, 1995.
  27. [27] M. Ouerfelli and V. Kuma, “Optimization of a Spherical Five-Bar Parallel Drive Linkage,” Trans. of the ASME, J. of Mechanical Design, Vol.116, March, pp. 166-173, 1994.
  28. [28] J. Arata, H. Kondo, M. Sakaguchi, and H. Fujoimoto, “Development of a Haptic Device “DELTA-4” using Parallel Link Mechanism,” Proc. of Int. Conf. Robotics and Automation (ICRA) 2009, pp. 294-300, May 2009.
  29. [29] J. Arata, H. Kondo, and H. Fujimoto, “Development of 6DOF Master Manipulator for Surgical Application,” Proc. of JSME Robotics and Mechatoronics conference 2009, 1A2-J10, 2009 (in Japanese).
  30. [30] D. Stewart, “A Platform with Six Degrees of Freedom,” Proc. of the Institution of Mechanical Engineers 1965-1966, Vol.180, part 1, No.15, pp. 371-386, 1965.
  31. [31] F. Pierrot, M. Uchiyama, P. Dauchez, and A. Fournier, “A New Design of a 6-DOF Parallel Robot,” J. of Robotics and Mechatronics, Vol.2, No.4, pp. 308-315, 1991.
  32. [32] J. P. Merlet, “Parallel Robots Second Edition,” Springer,
    ISBN 1-4020-4132-2, 2006.
  33. [33] T. Yoshikawa, “Dynamic manipulability of robot manipulators,” Journal of Robotics Systems, Vol.2, No.1, pp. 113-124, 1985.
  34. [34] Optotrak Certus,
    http://www.ndigital.com/medical/certus.php ,
    2009.

Creative Commons License  This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Oct. 01, 2024