Design of a Novel Parallel Mechanism for Haptic Device

2021 ◽  
pp. 1-63
Author(s):  
Jin Lixing ◽  
Duan Xingguang ◽  
Li Changsheng ◽  
Shi Qingxin ◽  
Wen Hao ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Parallel Architecture ◽  
General Purpose ◽  
Haptic Device ◽  
Haptic Devices ◽  
Modeling And Optimization ◽  
Teleoperation Systems

Abstract This paper presents a novel parallel architecture with seven active degrees of freedom (DOFs) for general-purpose haptic devices. The prime features of the proposed mechanism are partial decoupling, large dexterous working area, and fixed actuators. The detailed processes of design, modeling, and optimization are introduced and the performance is simulated. After that, a mechanical prototype is fabricated and tested. Results of the simulations and experiments reveal that the proposed mechanism possesses excellent performances on motion flexibility and force feedback. This paper aims to provide a remarkable solution of the general-purpose haptic device for teleoperation systems with uncertain mission in complex applications.

Redundant Parallel Mechanism for Haptic Applications

2010 ◽  
Vol 4 (4) ◽  
pp. 338-345 ◽  
Author(s):  
Jumpei Arata ◽  
◽  
Hideo Fujimoto
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Display Device ◽  
Parallel Mechanisms ◽  
Prototype Implementation ◽  
Haptic Devices ◽  
Multiple Degrees Of Freedom ◽  
High Rigidity ◽  
Wide Range ◽  
Fixed Base

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.

Use of 1DOF Haptic Device for Remote-Controlled 6DOF Assembly

2014 ◽  
Vol 8 (3) ◽  
pp. 452-459 ◽  
Author(s):  
Ryoya Kamata ◽  
◽  
Ryosuke Tamura ◽  
Satoshi Niitsu ◽  
Hiroshi Kawaharada ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Haptic Device ◽  
Prototype System ◽  
Assembly Operation ◽  
Six Degrees Of Freedom ◽  
Controlled Assembly ◽  
Sense Of Reality ◽  
Position And Orientation ◽  
Assembly Operations

This paper describes a remote controlled assembly using a haptic device. Most haptic devices have six Degrees Of Freedom (DOFs) for a higher sense of reality. However, for assembly operation, the simultaneous motion of parts with only one or two DOFs is required, and force feedback to operators is used only to maintain contact and detect collisions among parts. This leads to the possibility of assembly operations using a haptic device with a small number of DOFs. In this paper, we propose virtual planes to perform remote control of a 6DOF assembly by way of 1DOF user operations. Virtual planes separate the DOFs for user operation and for automatically generated motions that complement the user operation DOF in each assembly operation. A prototype system was developed with a 6DOF manipulator and camera. The system allows an operator to place virtual planes in any position and orientation using a camera image of the workspace. The experiment results showed the effectiveness of the method for remote controlled assembly without geometry information on the parts.

Stability Control of Haptic Interface

2007 ◽  
Author(s):  
Jisheng Zhang ◽  
Jiting Li ◽  
Mileta M. Tomovic ◽  
Yuru Zhang
Keyword(s):  
Virtual Environment ◽  
Pid Control ◽  
Closed Loop ◽  
Force Feedback ◽  
Control Method ◽  
Stability Control ◽  
Haptic Device ◽  
System Stability ◽  
Haptic Devices ◽  
Loop Equation

Haptic devices and man-machine interaction have attracted intense research interest in recent years due to numerous potential applications, including medical, dental, military, and nuclear. One of the challenges involved with haptic devices is providing human operator realistic sensory feeling through force feedback output from the haptic device. In order to acquire adequate fidelity, the stiffness of the virtual environment must be sufficiently large. However, this is typically accompanied with vibration of the haptic device. Hence, one of the key issues related to haptic systems is to ensure system’s stability. Although some effort has been done to address this issue, this is so far an unresolved problem. This paper presents current closed-loop PID control method for achieving system stability on the example of one-degree-of-freedom haptic device. In order to identify parameters of the PID controller, the control system is first modeled and the equation of the current closed-loop PID control is formulated. Then, by generalizing the relationship between the motor output torque and the virtual force at the output end of the device, the current closed-loop equation is transferred into that of the force. In addition, the paper analyzes the robustness of PID controlled haptic device. To validate the method, three simulation experiments are performed, with spring model, damper model, and spring damper model. The results show that there is a set of PID parameters which result in stable haptic device. One of the advantages of the proposed method is that it can regulate PID parameters to fit different virtual environment. This provides a fundamental approach to improve stability of haptic systems. In addition, the proposed method can be embedded in the software.

scholarly journals Let's Use Haptics!

2013 ◽  
Vol 9 (S8) ◽  
pp. 65 ◽  
Author(s):  
Manuel Rodrigues Quintas ◽  
Maria Teresa Restivo ◽  
José Rodrigues ◽  
Pedro Ubaldo
Keyword(s):  
Virtual Reality ◽  
Young People ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Complete System ◽  
Low Cost ◽  
Degree Of Freedom ◽  
Haptic Device ◽  
Expensive Equipment ◽  
Sense Of Touch

The concept and the use of haptic devices need to be disseminated and they should become familiar among young people. At present haptics are used in many everyday tasks in different fields. Additionally, their use in interaction with virtual reality applications simulating real systems sense of touch will increase the usersâ?? realism and immersion and, consequently, they will contribute to improve the intrinsic knowledge to the simulationsâ?? goals. However, haptics are associated with expensive equipment and usually they offer several degrees of freedom. The objective of this work is to make their cost not much more expensive than a â??specialâ? mouse by offering a low cost solution with just one degree of freedom (1DOF) useful in many simple cases. Additionally, it is also an objective of this work the development of simple virtual reality systems requiring interactions only requiring one degree of freedom. A low cost, single-axis force-feedback haptic device of 1 degree of freedom has been developed. For evaluating the interest of this prototype a â??Spring Constantâ? application was built and used as a demonstrator. The complete system - the haptic interacting with the â??Spring Constantâ? - will be described in the present work.

Wire-Driven Pneumatic Actuation of a New 6-DOF Haptic Master

2006 ◽  
Author(s):  
Carlo Ferraresi ◽  
Massimiliana Carello ◽  
Francesco Pescarmona ◽  
Roberto Grassi
Keyword(s):  
Virtual Reality ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Angular Displacement ◽  
Haptic Device ◽  
The Other ◽  
Six Degrees Of Freedom ◽  
Pneumatic Actuation ◽  
Virtual Device ◽  
Other Hand

The paper presents the results of a work carried out by the Department of Mechanics of Politecnico di Torino, concerning the study and development of a six degrees of freedom force reflecting master structure for teleoperation (haptic device) to be controlled by an operator. The latter imposes the six-dimensional linear and angular displacement of a handle, controlling a remote slave robot or interacting with virtual reality. On the other hand, the operator receives a force feedback related to the environment in which the slave robot or virtual device operates. Since the actuators must be force controlled in order to generate a resultant corresponding to the desired wrench, pneumatic actuation has been chosen because it is particularly suitable to the application and quite economical.

Quantitative Performance Analysis of Haptic Devices With Parallelogram Subsystems

2011 ◽  
Author(s):  
Leng-Feng Lee ◽  
Xiaobo Zhou ◽  
Venkat N. Krovi
Keyword(s):  
Parallel Architecture ◽  
Theoretical Background ◽  
Haptic Device ◽  
System Level ◽  
High Definition ◽  
Haptic Devices ◽  
Serial Chain ◽  
Quantitative Performance ◽  
The Rich ◽  
The Individual

Parallel-architecture haptic devices offer significant advantages over serial-architecture counterparts in applications requiring high stiffness and high accuracy. To this end, many haptic devices have been created and deployed by modularly piecing together several serial-chain arms to form an in-parallel system. Furthermore, recent haptic devices design such as the Sensable’s PHANToM Premium line of haptic devices and Quanser’s High Definition Haptic Device (HD)2 placed the 2nd actuated joint (of a 2-DOF RR serial manipulator) at the base of the device that allowed the control of the 2nd joint through a parallelogram/fourbar structure. This design is favorable from the view point of reducing the overall weight that the first motor has to carry. However, such design choices can affect the overall system performance which depends both on the nature of the individual arms as well as their interactions. In this paper, we build on the rich theoretical background of constrained articulated mechanical systems to provide a systematic framework for formulation of system-level kinematic performance from individual-arm characteristics. Specifically, we discuss: (i) development of pertinent symbolic equations; (ii) generalization to arbitrary architectures; and (iii) combined symbolic/numeric analyses of performance, focusing on manipulability and stiffness. These aspects are illustrated using the example of Quanser High Definition Haptic Device (HD)2 — an in-parallel haptic device formed by coupling two 3-link PHANToM 1.5 type serial chain manipulators with appropriate passive joints.

scholarly journals A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for Robotic Applications

Mathematics ◽  
2021 ◽  
Vol 9 (13) ◽  
pp. 1468
Author(s):  
Luis Nagua ◽  
Carlos Relaño ◽  
Concepción A. Monje ◽  
Carlos Balaguer
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Experimental Tests ◽  
Humanoid Robots ◽  
Inverse Kinematic ◽  
Element Analysis ◽  
New Approach ◽  
Flexible Polymer ◽  
The Mathematical Model

A soft joint has been designed and modeled to perform as a robotic joint with 2 Degrees of Freedom (DOF) (inclination and orientation). The joint actuation is based on a Cable-Driven Parallel Mechanism (CDPM). To study its performance in more detail, a test platform has been developed using components that can be manufactured in a 3D printer using a flexible polymer. The mathematical model of the kinematics of the soft joint is developed, which includes a blocking mechanism and the morphology workspace. The model is validated using Finite Element Analysis (FEA) (CAD software). Experimental tests are performed to validate the inverse kinematic model and to show the potential use of the prototype in robotic platforms such as manipulators and humanoid robots.

Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation

2008 ◽  
Author(s):  
Xiaoli Zhang ◽  
Carl A. Nelson
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Small Space ◽  
Surgical Robots ◽  
Tool Positioning ◽  
Rotation Axes ◽  
Surgical Tool ◽  
Linear Nature

The size and limited dexterity of current surgical robotic systems are factors which limit their usefulness. To improve the level of assimilation of surgical robots in minimally invasive surgery (MIS), a compact, lightweight surgical robotic positioning mechanism with four degrees of freedom (DOF) (three rotational DOF and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics are derived, and these are used for optimizing the mechanism structure given workspace requirements. By evaluating different spherical geared configurations with various link angles and pitch angles, an optimal design is achieved which performs surgical tool positioning throughout the desired kinematic workspace while occupying a small space bounded by a hemisphere of radius 13.7 cm. This optimized workspace conservatively accounts for collision avoidance between patient and robot or internally between the robot links. This resultant mechanism is highly compact and yet has the dexterity to cover the extended workspace typically required in telesurgery. It can also be used for tool tracking and skills assessment. Due to the linear nature of the gearing relationships, it may also be well suited for implementing force feedback for telesurgery.

Selection of Degrees of Freedom for Dynamic Analysis

1987 ◽  
Vol 109 (1) ◽  
pp. 65-69 ◽  
Author(s):  
K. W. Matta
Keyword(s):  
Finite Element ◽  
Dynamic Analysis ◽  
Degrees Of Freedom ◽  
General Purpose ◽  
Component Mode Synthesis ◽  
Complex Structures ◽  
Large Complex ◽  
Static Condensation ◽  
Basis Vectors ◽  
Selection Of

A technique for the selection of dynamic degrees of freedom (DDOF) of large, complex structures for dynamic analysis is described and the formulation of Ritz basis vectors for static condensation and component mode synthesis is presented. Generally, the selection of DDOF is left to the judgment of engineers. For large, complex structures, however, a danger of poor or improper selection of DDOF exists. An improper selection may result in singularity of the eigenvalue problem, or in missing some of the lower frequencies. This technique can be used to select the DDOF to reduce the size of large eigenproblems and to select the DDOF to eliminate the singularities of the assembled eigenproblem of component mode synthesis. The execution of this technique is discussed in this paper. Examples are given for using this technique in conjunction with a general purpose finite element computer program GENSAM[1].

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