Design and optimization of a haptic manipulator using series-parallel mechanism

This paper presents design and optimization of an 8-DOF haptic manipulator using series-parallel mechanism. Parallel mechanism is designed to control 3-DOF translation input parameters and transfer the feedback force to the operator. Series mechanism is a 4-DOF quadruple-axial concurrent redundant mechanism, controlling three orientation angles. Forward and inverse kinematic analyses have been performed and the jacobian matrix is derived. Operating performance indexes such as global conditioning index, global kinematic performance fluctuant index and workspaces are evaluated to find optimal parameters in design stage.