Optimal kinematic design of a haptic pen

Author

Stocco, Leo J. ; Salcudean, Septimiu E. ; Sassani, Farrokh

Author_Institution

Dept. of Electr. & Comput. Eng., British Columbia Univ., Vancouver, BC, Canada

Volume

6

Issue

3

fYear

2001

fDate

9/1/2001 12:00:00 AM

Firstpage

210

Lastpage

220

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

Keywords

actuators; haptic interfaces; manipulator kinematics; minimax techniques; 6-DOF robots; actuators; discrete optimization; haptic interface; haptic pen; isotropy index; kinematics; minimax technique; parallel platform robots; Algorithm design and analysis; Couplings; Design optimization; Haptic interfaces; Humans; Impedance; Intelligent robots; Kinematics; Parallel robots; Pneumatic actuators;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/3516.951359

Filename

951359