Design and analysis of a new 7-DOF parallel type haptic device: PATHOS-II

Author

Kim, Keehoon ; Chung, Wan Kyun ; Youm, Youngil

Author_Institution

Robotics & Bio-Mechatronics Lab., Pohang Univ. of Sci. & Technol., South Korea

Volume

3

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

2241

Abstract

Most tele-operation to manipulate an object consists of grasping and manipulation, and two or more 6-DOF haptic devices are usually used in master side. In this article, a new simply designed 7-DOF haptic device, PATHOS II is proposed for 1-DOF grasping and 6-DOF manipulation. The merits of a parallel type haptic device such as high stiffness and accuracy are natural characteristics of PATHOS-II with optimized workspace. Due to its unique symmetric structure, the isotropic manipulability is enhanced within the reachable workspace. This parallel type haptic device can be used in applications which need high precision, stiffness and isotropic manipulability.

Keywords

haptic interfaces; manipulator kinematics; optimisation; telerobotics; 1 DOF grasping; 6 DOF manipulation; 7 DOF parallel type haptic device; PATHOS-II; isotropic manipulability; manipulation; optimized workspace; stiffness manipulability; symmetric structure; tele operation; Biomechatronics; Displays; Exoskeletons; Haptic interfaces; Kinematics; Leg; Magnetic levitation; Manipulators; Reflection; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1249204

Filename

1249204