Optimal kinematic design of a haptic pen

TitleOptimal kinematic design of a haptic pen
Publication TypeJournal Article
Year of Publication2001
AuthorsStocco, L. J., S. E. Salcudean, and F. Sassani
JournalMechatronics, IEEE/ASME Transactions on
Volume6
Pagination210 -220
Date Publishedsep.
ISSN1083-4435
Keywords6-DOF robots, actuators, discrete optimization, haptic interface, haptic interfaces, haptic pen, isotropy index, kinematics, manipulator kinematics, minimax technique, minimax techniques, parallel platform robots
Abstract

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

URLhttp://dx.doi.org/10.1109/3516.951359
DOI10.1109/3516.951359

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